CiA402for motor controller CMMS-AS/CMMD-AS/CMMS-ST · 2020-03-19 · CMMS-AS/CMMD-AS/CMMS-ST 2...
Transcript of CiA402for motor controller CMMS-AS/CMMD-AS/CMMS-ST · 2020-03-19 · CMMS-AS/CMMD-AS/CMMS-ST 2...
Description
Device profile
CiA 402
for motor controller
– CMMS-AS-...-G2
– CMMD-AS-...
– CMMS-ST-...-G2
via fieldbus:
– CANopen
8040109
1404NH
[8034536]
CiA 402 for motor controller
CMMS-AS/CMMD-AS/CMMS-ST
CMMS-AS/CMMD-AS/CMMS-ST
2 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH –
Translation of the original instructions
GDCP-CMMS/D-C-CO-EN
CANopen®, CiA®, DevicecNet® are registered trademarks of the respective trademark owners in cer-
tain countries.
Identification of hazards and instructions on how to prevent them:
Warning
Hazards that can cause death or serious injuries.
Caution
Hazards that can cause minor injuries or serious material damage.
Other symbols:
Note
Material damage or loss of function.
Recommendations, tips, references to other documentation.
Essential or useful accessories.
Information on environmentally sound usage.
Text designations:
• Activities that may be carried out in any order.
1. Activities that should be carried out in the order stated.
– General lists.
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 3
Table of Contents – CMMS-AS/CMMD-AS/CMMS-ST – CiA 402
1 Fieldbus interface 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 CANopen 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 CANopen standards 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 CANopen interface 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Connection and display components 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Bus LED 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Pin allocation CAN [X4] 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.4 Cabling instructions 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Configuration of CANopen participants (via DIL switch) 13. . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Overview of DIL switches [S1.1…12] 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Configuring the node ID (CAN address) 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Configure data rate 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.4 CAN interface activation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 Terminating resistor activation 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.6 Setting of the physical units (factor group) 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Configuration CANopenmaster 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 CANopen access procedure 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Introduction 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 SDO access 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 SDO sequences for reading and writing 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 SDO Error Messages 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.3 Simulation of SDO access 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 PDO Message 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Description of the Objects 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Objects for PDO Parametrisation 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Activation of PDOs 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 SYNC message 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 EMERGENCY Message 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Overview 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Structure of the EMERGENCY Message 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Description of the Objects 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
4 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.6 Network Management (NMT Service) 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Boot-up (Boot-up Protocol) 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Start Remote Node 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.3 Stop Remote Node 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.4 Enter Pre-Operational 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.5 Reset Node 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.6 Reset Communication 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.7 Heartbeat (Error Control Protocol) 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.8 Nodeguarding (Error Control Protocol) 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7 Table of Identifiers 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8 Internal sequence of CANopen processing 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Setting parameters 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Loading and saving parameter sets 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Conversion factors (Factor Group) 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Output stage parameter 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Current Regulator and Motor Adjustment 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 Velocity control 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Position controller (Position Control Function) 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Setpoint value limitation 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Digital inputs and outputs 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Limit switches 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 Sampling of positions 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.11 Device Information 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.12 Error management 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.13 Compatibility settings 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Device Control 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Status diagram (State Machine) 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Overview 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Status diagram of the motor controller (state machine) 89. . . . . . . . . . . . . . . . . . .
5.1.3 Controlword (Controlword) 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 Read-out of the motor controller status 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Status words (statuswords) 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 5
6 Operating modes 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Setting the operating mode 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.1 Overview 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Description of the Objects 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Operating mode homing (homing mode) 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Overview 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Description of the objects 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Homing processes 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Control of homing 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Positioning mode (Profile Position Mode) 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Overview 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.2 Description of the objects 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Functional description 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Synchronous position specification (Interpolated Position Mode) 121. . . . . . . . . . . . . . . . . . .
6.4.1 Overview 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 Description of the Objects 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.3 Functional description 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Speed adjustment operating mode (Profile Velocity Mode) 129. . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Overview 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Description of the objects 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Speed ramps 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Torque regulation operating mode (Profile Torque Mode) 136. . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.1 Overview 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Description of the objects 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A Diagnostic messages 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.1 Explanations on the diagnostic messages 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 Diagnostic messages with instructions for fault clearance 142. . . . . . . . . . . . . . . . . . . . . . . . .
A.3 Error codes via CiA 301/402 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
6 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 7
Instructions on this documentation
This documentation describes the device profile CiA 402 (DS 402) and provides information on CiA 301
for the motor controller corresponding to the section “Information on the version” via the fieldbus in-
terface:
– CANopen – interface [X4] integrated in the motor controller.
This provides you with supplementary information about control, diagnostics and parametrisation of
the motor controllers via the fieldbus.
• Always observe the general safety regulations for the motor controller.
The general safety regulations for the motor controller can be found in the specific
description “Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2.
Target group
This description is intended exclusively for technicians trained in control and automation technology,
who have experience in installation, commissioning, programming and diagnosing of positioning sys-
tems.
Service
Please consult your regional Festo contact if you have any technical problems.
Information on the version
This description refers to the following versions:
Motor controller Version
CMMS-AS-...-G2 Motor controller CMMS-AS-...-G2 from Rev 03
FCT plug-in CMMS-AS from version 2.0.0
CMMD-AS-... Motor controller CMMD-AS-... from Rev 03
FCT plug-in CMMD-AS from version 2.0.0
CMMS-ST-...-G2 Motor controller CMMS-ST-...-G2 from Rev 05
FCT plug-in CMMS-ST from version 2.0.0
Tab. 1 Versions
Note
With newer firmware versions, check whether there is a newer version of this descrip-
tion available:www.festo.com
CMMS-AS/CMMD-AS/CMMS-ST
8 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Documentation
Additional information on the motor controllers can be found in the following documentation:
Documentation Device
type
Contents
Mounting and
installation
GDCP-CMMS-AS-G2-HW-... CMMS-AS – Mounting
I t ll ti ( i ll ti )GDCP-CMMD-AS-HW-... CMMD-AS
– Installation (pin allocations)
– Error messages
– Technical dataGDCP-CMMS-ST-G2-HW-... CMMS-ST
Functions and
commissioning
GDCP-CMMS/D-FW-... CMMS-AS
CMMD-AS
CMMS-ST
– Control interfaces
– Operating modes/operational
functions
– Commissioning with FCT
– Error messages
STO safety
function
GDCP-CMMS-AS-G2-S1-... CMMS-AS – Functional safety engineering with
GDCP-CMMD-AS-S1-... CMMD-AS
y g g
the STO safety function (Safe
Torque Off )GDCP-CMMS-ST-G2-S1-... CMMS-ST
Device
profile FHPP
GDCP-CMMS/D-C-HP-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interfaces:
– CAN bus (CANopen)
– Interface CAMC-PB (PROFIBUS)
– Interface CAMC-DN (DeviceNet)
– Control and parameterisation via
the device profile FHPP (Festo
Handling and Positioning Profile)
with PROFIBUS, DeviceNet or
CANopen.
Device profile
CiA 402
GDCP-CMMS/D-C-CO-... CMMS-AS
CMMD-AS
CMMS-ST
– Description of the interface:
– CAN bus (CANopen, DriveBus)
– Control and parameterisation via
the device profile CiA 402 (DS 402).
Software Help Help for the CMMS-AS
plug-in
CMMS-AS – User interface and functions in the
Festo Configuration Tool for the
Help for the CMMD-AS
plug-in
CMMD-AS
g
plug-in
Help for the CMMS-ST
plug-in
CMMS-ST
Tab. 2 Documentation on the motor controllers
The documentation is available on the following media:
– CD-ROM (scope of delivery)
– Support Portal: www.festo.com/sp
1 Fieldbus interface
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 9
1 Fieldbus interface
Control and parameterisation via CiA 402 is supported by the CMMS-AS/CMMD-AS/CMMS-ST via the
fieldbus interface corresponding to Tab. 1.1. The CANopen interface is integrated in the motor control-
ler. The fieldbus is configured with the DIL switches [S1].
Fieldbus Interface Description
CAN bus [X4] – integrated Chapter 2
Tab. 1.1 Fieldbus interface for CiA 402
2
3
1
2
3
1
2
3
1
1 Bus/CAN LED
2 DIL switch [S1] for fieldbus settings
3 CANopen interface [X4]
Fig. 1.1 Motor controller CMMS-AS/CMMD-AS/CMMS-ST
2 CANopen
10 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2 CANopen
This part of the documentation describes the connection and configuration of the motor controller in a
CANopen network. It is directed at people who are already familiar with this bus protocol.
2.1 CANopen standards
CANopen is a standard developed by the “CAN in Automation” association. Numerous device manufac-
turers are organised in this network. This standard has largely replaced the current manufacturer-spe-
cific CAN protocols. As a result, the end user has a non-proprietary communication interface.
The following manuals, among others, can be obtained from this association:
CiA 201 … 207:
These documents cover the general basic principles and embedding of CANopen into the OSI layered
architecture. The relevant points of this book are presented in this CANopenmanual, so procurement of
CiA 201 … 207 is generally not necessary.
CiA 301:
This document describes the fundamental design of the object directory of a CANopen device and ac-
cess to it. The statements of CiA201 … 207 are also made concrete. The elements of the object direct-
ory needed for the CMMS motor controller families and the related access methods are described in
this manual. Procurement of CiA 301 is recommended but not unconditionally necessary.
CiA 402:
This document deals with the concrete implementation of CANopen in drive controllers. Although all
implemented objects are also briefly documented and described in this CANopenmanual, the user
should have this documentation available.
Source address:
CAN in Automation (CiA) International Headquarters
AmWeichselgarten 26
D-91058 Erlangen
Tel.: +49 (0)9131-601091
Fax: +49 (0)9131-601092
www.can-cia.de
The CANopen implementation of the motor controller is based on the following standards:
1 CiA Draft Standard 301, Version 4.02, 13. February 2002
2 CiA Draft Standard Proposal 402, Version 2.0, 26. July 2002
2 CANopen
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 11
2.2 CANopen interface
The CAN interface is integrated in the motor controller and is thus always available. The CAN bus con-
nection is designed as a 9-pin D-sub plug connector in accordance with standards.
2.2.1 Connection and display components
The following components can be found on the front panel:
– Status LED CAN / bus
– 9-pin D-sub plug connector [X4]
– DIL switches for terminating resistor, transmission rate, CAN activation, Node ID (CAN address).
2.2.2 Bus LED
The Bus LED on the motor controller displays the following:
LED Status
off no telegrams are sent
lights up yellow telegrams are sent
Tab. 2.1 Bus LED
2.2.3 Pin allocation CAN [X4]
[X4] Pin no. Designation Value Description
1 – – Unused
6 CAN-GND – Load
2 CAN-L – Negative CAN signal (Dominant Low)
7 CAN-H – Positive CAN signal (Dominant High)
3 CAN-GND – Load
8 – – Unused
4 – – Unused
9 – – Unused
5 CAN shield – Screening
Tab. 2.2 Pin allocation for CAN interface [X4]
CAN bus cabling
When cabling the motor controller via the CAN bus, you should unconditionally observe
the following information and instructions to obtain a stable, trouble free system.
If cabling is improperly done, malfunctions can occur on the CAN bus during operation.
These can cause the motor controller to shut off with an error for safety reasons.
2 CANopen
12 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Termination
A terminating resistor (120 Ω) can, if required, be switched bymeans of DIL switch [S1.12] on the basic
unit.
2.2.4 Cabling instructions
The CAN bus offers a simple, fail-safe ability to network all the components of a system together. But a
requirement for this is that all of the following instructions on cabling are observed.
120 Ω 120 Ω
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
CAN shield
CAN-GND
CAN-L
CAN-H
Fig. 2.1 Cabling example
– The individual network nodes are basically connected in series, so that the CAN cable passes from
motor controller to motor controller ( Fig. 2.1).
– At both ends of the CAN cable, there must be available a terminating resistor of exactly 120 Ω ± 5 %.
Such a terminating resistor is often already integrated into CAN cards or PLCs, which must be taken
into account correspondingly.
– A screened cable with precisely two twisted conductor pairs must be used for the cabling
Tab. 2.3. One twisted pair is used for connecting CAN-H and CAN-L. The conductors of the other
pair are used together for CAN-GND. The cable screening is connected to the CAN shield connection
at all nodes.
– The use of adapters is not recommended for CAN bus cabling. If this is unavoidable, then metallic
plug housings should be used to connect the cable screening.
– To keep the disturbance coupling as low as possible, motor cables should not be laid parallel to
signal lines. Motor cables must conform to specifications. Motor cables must be correctly shielded
and earthed.
– For additional information on the configuration of trouble free CAN bus cabling, refer to the Control-
ler Area Network protocol specification, version 2.0 from Robert Bosch GmbH, 1991.
Feature Value
Wire pairs – 2
Core cross section [mm2] ≥ 0.22
Screening – yes
Loop resistance [Ω/m] < 0.2
Surge impedance [Ω] 100 … 120
Tab. 2.3 Technical data, CAN bus cable
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Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 13
2.3 Configuration of CANopen participants (via DIL switch)
Several steps are required in order to produce an operational CANopen interface. Some of these set-
tings should or must be carried out before the CANopen communication is activated. This section
provides an overview of the steps required by the slave for parametrisation and configuration. As some
parameters are only effective after saving and restarting the motor controller, we recommend that com-
missioning with the FCT should be carried out first without connection to the CANopen bus.
Instructions on commissioning with the Festo Configuration Tool can be found in the Help
for the device-specific FCT plug-in.
When designing the CANopen interface, the user must therefore make these determinations. Only then
should parametrisation of the fieldbus connection take place on both pages. We recommend that para-
meterisation of the slave should be executed first. Then the master should be configured.
We recommend the following procedure:
1. Setting of the node ID, bit rate and activation of the bus communication via DIL switches.
The status of the DIL switches is read once at Power-ON/restart.
The motor controller only takes over the changes made to the switch settings during on-
going operation at the next Power ON/Controller restart (FCT).
2. Parametrisation and commissioning with the Festo Configuration Tool (FCT).
In particular on the Application Data page:
– CANopen control interface (Mode Selection tab)
In addition, the following settings on the fieldbus page:
– Protocol CANopen CiA 402 (Operating parameter tab)
– Physical units (Factor Group tab)
Observe that parameterisation of the CANopen function remains intact after a reset only
if the parameter set of the motor controller was saved.
Note
While the FCT device control is active, CAN communication is automatically deactivated.
3. Configuration of the CANopenmaster Sections 2.4 and 3.
2 CANopen
14 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2.3.1 Overview of DIL switches [S1.1…12]
Fig. 2.2 Overview of DIL switches [S1.1...12]
2.3.2 Configuring the node ID (CAN address)
The node ID can be configured via the DIL switches [S1.1…7].
Fieldbus DIL switch
S1.7 S1.6 S1.5 S1.4 S1.3 S1.2 S1.1
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
26= 64 25= 32 24 = 16 23= 8 22= 4 21= 2 20= 1
CANOpen
Node ID (1…127) 1) X X X X X X X
Example: Node ID “57” =
(Switch position)
+ 0
(OFF)
+ 32
(ON)
+ 16
(ON)
+ 8
(ON)
+ 0
(OFF)
+ 0
(OFF)
+ 1
(ON)
1) Address “0” is reserved for the higher-order controller.
Tab. 2.4 Configuring the node ID
Special features of the CMMD-AS
The two separate CAN participants of the CMMD-AS (CAN bus is internally looped) are configured with
the node ID after the DIL switch for axis 1 and after the DIL switch + 1 for axis 2. CAN activation, baud
rate and termination can only be configured together and are thus identical for axis 1 and axis 2.
2.3.3 Configure data rate
The bit/transmission rate can be configured via the DIL switches [S1.9/S1.10].
Fieldbus Bit/transmission rate DIL switch
S1.10 S1.9
CANopen (CAN bus) 125 KBit/s (125 kBaud) Off Off
250 KBit/s (250 kBaud) Off ON
500 KBit/s (500 kBaud) ON Off
1 MBit/s (1000 kBaud) ON ON
Tab. 2.5 Configure data rate
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Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 15
2.3.4 CAN interface activation
The DIL switch [S1.11] may only be used for activating the CAN interface. The DIL switch
[S1.11] must be set to ON for use of the CAN interface.
Fieldbus DIL switch
S1.11
CANOpen ON
Tab. 2.6 Configure fieldbus interface
2.3.5 Terminating resistor activation
The DIL switch [S1.12] may only be used for activating the “CAN bus” terminating resistor.
Fieldbus Note DIL switch
S1.12
CANOpen ON: Terminating resistor active.
OFF: Terminating resistor not active.
OFF/ON
Tab. 2.7 Configure terminating resistor
2.3.6 Setting of the physical units (factor group)
In order for a fieldbus master to exchange position, speed and acceleration data in physical units
(e.g. mm, mm/s, mm/s2) with the motor controller, it must be parameterised via the factor group
Section 4.2.
Parameterisation can be carried out via FCT or the fieldbus.
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16 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
2.4 Configuration CANopen master
You can use an EDS file to configure the CANopenmaster.
The EDS file is included on the CD-ROM supplied with the motor controller.
You will find the most current version underwww.festo.com/sp
EDS files Description
CMMS-AS_CAN.eds Motor controller CMMS-AS-... with protocol “CiA 402”
CMMD-AS_CAN.eds Motor controller CMMD-AS-... with protocol “CiA 402”
CMMS-ST_CAN.eds Motor controller CMMS-ST-... with protocol “CiA 402”
Tab. 2.8 EDS files for CiA 402 with CANopen
3 CANopen access procedure
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3 CANopen access procedure
3.1 Introduction
CANopenmakes available a simple and standardised possibility to access the parameters of the motor
controller (e.g. the positioning speed). To achieve this, a unique number (index and subindex) is as-
signed to each parameter (CAN object). The totality of all adjustable parameters is designated an ob-
ject directory.
For access to the CAN objects through the CAN bus, there are fundamentally two methods available: A
confirmed access type, in which the motor controller acknowledges each parameter access (via so-
called SDOs), and an unconfirmed access type, in which no acknowledgement is made (via so-called
PDOs).
Confirmation from
the motor controller
Order from the
controllerController CMMS
SDO
Controller CMMSPDO (transmit PDO)
Controller CMMS
PDO (receive PDO)
Data for the controller
(actual values)
Data from the
controller (setpoint
values)
Fig. 3.1 Access procedure
As a rule, the motor controller is parametrised via SDOs and controlled via PDOs. In addition, other
types of messages (so-called communication objects), which are sent either by the motor controller or
the higher-level controller, are defined for special application cases:
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Communication objects
SDO Service Data Object Used for normal parameterisation of the motor controller.
PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible.
SYNC Synchronisation Message Synchronisation of multiple CAN nodes.
EMCY Emergency Message Transmission of error messages.
NMT Network Management Network service: All CAN nodes can be worked on
simultaneously, for example.
HEART-
BEAT
Error Control Protocol Monitoring of the communications participants through
regular messages.
Tab. 3.1 Communication objects
Every message sent on the CAN bus contains a type of address which is used to determine the bus
participant for which the message is meant and from which bus participant the message is sent. This
number is designated the identifier. The lower the identifier, the higher the priority of the message.
Identifiers are established for the above-named communication objects Section 3.7. The following
sketch shows the basic design of a CANopenmessage:
601h Len D0 D1 D2 D3 D4 D5 D6 D7
Identifier
Data bytes 0 … 7
Number of data bytes (here 8)
3.2 SDO access
The Service Data Objects (SDO) permit access to the object directory of the motor controller. It is there-
fore recommended to build up an application, without prepared PDO communication from the control
interface, at first only with SDOs and only later to convert to the faster but also more complicated Pro-
cess Data Objects (PDOs).
SDO access always starts from the higher-order controller (Host). This either sends the motor control-
ler a write command to modify a parameter in the object directory, or a read command to read out a
parameter. For each command, the host receives an answer that either contains the read-out value or –
in the case of a write command – serves as an acknowledgement.
For the motor controller to recognise that the command is meant for it, the host must send the com-
mand with a specific identifier. This consists of the base 600h + node ID of the motor controller in-
volved. The motor controller answers correspondingly with the identifier 580h + node ID.
The design of the commands or answers depends on the data type of the object to be read or written,
since either 1, 2 or 4 data bytes must be sent or received. The following data types are supported:
3 CANopen access procedure
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Data type Size and algebraic sign Area
UINT8 8 bit value without algebraic sign 0 … 255
INT8 8 bit value with algebraic sign -128 … 127
UINT16 16 bit value without algebraic sign 0 … 65535
INT16 16 bit value with algebraic sign -32768 … 32767
UINT32 32 bit value without algebraic sign 0 … (232-1)
INT32 32 bit value with algebraic sign -(231) … (232-1)
Tab. 3.2 Supported data types
3.2.1 SDO sequences for reading and writing
To read out or describe objects of these number types, the following listed sequences are used. The
commands for writing a value into the motor controller begin with a different identifier, depending on
the data type. The answer identifier, in contrast, is always the same. Read commands always start with
the same identifier, and the motor controller answers differently, depending on the data type returned.
All numbers are kept in hexadecimal notation.
Read commands Write commands
Low byte of the main index (hex)
Identifier for 8 bit
High byte of the main index (hex)
Sub-index (hex)
Command 40h IX0 IX1 SU 2Fh IX0 IX1 SU DO
Answer: 4Fh IX0 IX1 SU D0 60h IX0 IX1 SU
UINT16 / INT16 Identifier for 8 bitIdentifier for 16 bit
Command 40h IX0 IX1 SU 2Bh IX0 IX1 SU DO D1
Answer: 4Bh IX0 IX1 SU D0 D1 60h IX0 IX1 SU
UINT32 / INT32 Identifier for 16 bitIdentifier for 32 bit
Command 40h IX0 IX1 SU 23h IX0 IX1 SU DO D1 D2 D3
Answer: 43h IX0 IX1 SU D0 D1 D2 D3 60h IX0 IX1 SU
Identifier for 32 bit
UINT8 / INT8
Identifier 8 bit 16 bit 32 bit
Command identifier 2Fh 2Bh 23h
Response identifier 4Fh 4Bh 43h
Error detection – – 80h
Tab. 3.3 SDO – command/response identifier
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EXAMPLE
UINT8/INT8 Reading of Obj. 6061_00h
Return data: 01h
Writing of Obj. 1401_02h
Data: EFh
Command 40h 61h 60h 00h 2Fh 01h 14h 02h EFh
Answer 4Fh 61h 60h 00h 01h 60h 01h 14h 02h
UINT16/INT16 Reading of Obj. 6041_00h
Return data: 1234h
Writing of Obj. 6040_00h
Data: 03E8h
Command 40h 41h 60h 00h 2Bh 40h 60h 00h E8h 03h
Answer 4Bh 41h 60h 00h 34h 12h 60h 40h 60h 00h
UINT32/INT32 Reading of Obj. 6093_01h
Return data: 12345678h
Writing of Obj. 6093_01h
Data: 12345678h
Command 40h 93h 60h 01h 23h 93h 60h 01h 78h 56h 34h 12h
Answer 43h 93h 60h 01h 78h 56h 34h 12h 60h 93h 60h 01h
Note
The acknowledgement from the motor controller must always be waited for!
Only when the motor controller has acknowledged the request may additional requests
be sent.
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 21
3.2.2 SDO Error Messages
In case of an error when reading or writing (for example, write access to an object that can only be
read), the motor controller answers with an error message instead of the acknowledgement:
Command 23h 41h 60h 00h … … … …
Response: 80h 41h 60h 00h 02h 00h 01h 06h
Error identifier Error code (4 byte):
F0 F1 F2 F3
Error code
F3 F2 F1 F0
Meaning
05 03 00 00h Protocol error: Toggle bit was not revised
05 04 00 01h Protocol error: Client / server command specifier invalid or unknown
06 06 00 00h Access faulty due to a hardware problem1)
06 01 00 00h Access type is not supported
06 01 00 01h Read access to an object that can only be written
06 01 00 02h Write access to an object that can only be read
06 02 00 00h The addressed object does not exist in the object directory
06 04 00 41h The object must not be entered into a PDO (e.g. ro-object in RPDO)
06 04 00 42h The length of the objects entered in the PDO exceeds the PDO length
06 04 00 43h General parameter error
06 04 00 47h Overflow of an internal variable / general error
06 07 00 10h Protocol error: Length of the service parameter does not agree
06 07 00 12h Protocol error: Length of the service parameter is too large
06 07 00 13h Protocol error: Length of the service parameter is too small
06 09 00 11h The addressed subindex does not exist
06 09 00 30h The data exceed the range of values of the object
06 09 00 31h The data are too large for the object
06 09 00 32h The data are too small for the object
06 09 00 36h Upper limit is less than lower limit
08 00 00 20h Data cannot be transmitted or stored1)
08 00 00 21h Data cannot be transmitted or stored, since the motor controller is working locally
08 00 00 22h Data cannot be transmitted or stored, as the motor controller is not in the correct
status for this2)
08 00 00 23h There is no object dictionary available3)
1) Returned in accordance with CiA 301 in case of incorrect access to store_parameters / restore_parameters.
2) “Status” should be understood generally here: It may be a problem of the incorrect operating mode or a technology module that is
not available or the like.
3) This error is returned, for example, when another bus system controls the motor controller or the parameter access is not
permitted.
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22 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.2.3 Simulation of SDO access
The firmware of the motor controller offers the possibility to simulate SDO access. In this way, after
being written via CAN bus, objects in the test phase can be read and checked through the CI terminal of
the parametrisation software ( Description Functions and commissioning, GDCP-CMMS/D-FW-...,
section “Controlling the motor controller via CAN Interpreter”).
The syntax of the commands is:
Read commands Write commands
Main index (hex)
UINT8/INT8 Sub-index (hex)
Command ? XXXX SU = XXXX SU: WW
Answer = XXXX SU: WW = XXXX SU: WW
UINT16/INT16 8 bit data (hex)
Command ? XXXX SU = XXXX SU: WWWW
Answer = XXXX SU: WWWW = XXXX SU: WWWW
UINT32/INT32 16 bit data (hex)
Command ? XXXX SU = XXXX SU:
Answer = XXXX SU: WWWWWWWW = XXXX SU: WWWWWWWW
32 bit data (hex)
Note that the commands are entered as characters without any blanks.
Read error Write error
Command ? XXXXSU = XXXXSU:WWWWWWWW1)
Answer ! FFFFFFFF ! FFFFFFFF
32 bit error code
F3 F2 F1 F0 in accordance with
chap. 3.2.2
32 bit error code
F3 F2 F1 F0 in accordance with
chap. 3.2.2
1) In case of error, the response is built up the same for all 3 write commands (8, 16, 32 bit).
The commands are entered as characters without any blanks.
Note
Never use these test commands in applications!
Access only serves test purposes and is not appropriate for real-time-capable commu-
nication.
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 23
3.3 PDOMessage
With Process Data Objects (PDOs), data can be transmitted in an event-driven manner or cyclically. The
PDO thereby transmits one or more previously established parameters. Other than with an SDO, there
is no acknowledgement when a PDO is transmitted. After PDO activation, all recipients must therefore
be able to process any arriving PDOs at any time. This normally means a significant software effort in
the host computer. This disadvantage is offset by the advantage that the host computer does not need
to cyclically request parameters transmitted by a PDO, which leads to a strong reduction in CAN bus
capacity utilisation.
EXAMPLE
The host computer would like to know when the motor controller has completed a positioning pro-
cedure from A to B.
When SDOs are used, it must frequently, such as every 10 ms, request the statusword object, which
uses up bus capacity.
When a PDO is used, the motor controller is parametrised at the start of the application in such a way
that, with every change in the statusword object, a PDO containing the statusword object is depos-
ited.
Instead of constantly requesting, the host computer thus automatically receives a corresponding
message as soon as the event occurs.
A distinction is made between the following types of PDOs:
Type Path Comment
Transmit PDO Motor controller Host Motor controller sends PDO when a certain event occurs.
Receive PDO HostMotor controller Motor controller evaluates PDO when a certain event
occurs.
Tab. 3.4 PDO types
The motor controller has a maximum of two transmit and two receive PDOs.
Almost all objects of the object directory can be entered (mapped) into the PDOs; i.e. the PDO contains
data such as the actual speed value, the actual position value, or the like. The motor controller must
first be told which data have to be transmitted, since the PDO only contains reference data and no in-
formation about the type of parameter. In the example below, the actual position value is transmitted in
the data bytes 0 … 3 of the PDO and the actual speed value in the bytes 4 … 7.
3 CANopen access procedure
24 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
181h Len D0 D1 D2 D3 D4 D5 D6 D7
Identifier
Start actual position(D0 … D3)
Number of data bytes (here 8)
Start actual speed(D4 … D7)
In this way, almost any desired data telegrams can be defined. The following chapters describe the
settings necessary for this.
3.3.1 Description of the Objects
Object Comment
Identifier of the PDO
(COB_ID_used_by_PDO)
In the object COB_ID_used_by_PDO, the identifier in which the
respective PDO is sent or received is entered. If bit 31 is set, the
respective PDO is deactivated. This is the presetting for all PDOs.
The COB-ID may only be revised if the PDO is deactivated, that is, bit 31
is set. A different identifier than is currently set in the motor controller
may therefore only be written if bit 31 is simultaneously set.
The set bit 30 shows when the identifier is read that the object cannot
be requested by a remote frame. This bit is ignored during writing
and is always set during reading.
Number of objects to be
transmitted
(number_of_mapped_objects)
This object specifies how many objects should be mapped into the
corresponding PDO. The following limitations must be observed:
A maximum of 4 objects can be mapped per PDO.
A PDO may have a maximum of 8 data bytes.
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Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 25
Object Comment
Objects to be transmitted
(first_mapped_object …
fourth_mapped_object)
For each object contained in the PDO, the motor controller must be
told the corresponding index, sub-index and length. The stated
length must agree with the stated length in the object dictionary.
Parts of an object cannot be mapped.
The mapping information has the following format:
xxx_mapped_object
Index (hex) 16 bit
Sub-index (hex) 8 bit
Length of the object (hex) 8 bit
To simplify the mapping process, the following procedure is
prescribed when writing the mapping objects:
1. The number of objects to be transmitted
(number_of_mapped_objects) is set to 0.
2. The parameters first_mapped_object … fourth_mapped_object
may be written. The overall length of all objects is not relevant at
this time.
3. The number of objects to be transmitted is set to a value between
1 … 4. The length of all these objects must now not exceed
64 bits.
3 CANopen access procedure
26 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object Comment
Type of transmission
(transmission_type and
inhibit_time)
Which event results in sending (transmit PDO) or evaluation (receive
PDO) of a message can be determined for each PDO.
Value Meaning Permitted
with
00h – F0h SYNC message
The numerical value specifies how many
SYNC messages have to be received before
the PDO
– is sent (T-PDO) or
– evaluated (R-PDO).
TPDOs
RPDOs
FEh Cyclical
The transfer PDO is cyclically updated and
sent by the motor controller. The time
period is set by the object inhibit_time
Receive PDOs, in contrast, are evaluated
immediately after reception.
TPDOs
(RPDOs)
FFh Change
The transfer PDO is sent when at least 1 bit
has changed in the data of the PDO.
With inhibit_time, the minimum interval
between sending two PDOs can also be
specified in 100 μs steps.
TPDOs
Transmit_mask_high and
transmit_mask_low
(Masking)
If “change” is selected as the transmission_type, the TPDO is always
sent when at least 1 bit of the TPDO changes. But frequently it is
necessary that the TPDO should only be sent when certain bits have
changed. For that reason, the TPDO can be equipped with a mask:
Only the bits of the TPDO that are set to “1” in the mask are used to
evaluate whether the PDO has changed. Since this function is
manufacturer-specific, all bits of the masks are set as default value.
Tab. 3.5 Description of the Objects
The use of all other values is not permitted.
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 27
EXAMPLE
The following objects should be transmitted in one PDO:
Name of the object Index_Subindex Function
statusword 6041h_00h Controller status
modes_of_operation_display 6061h_00h Operating mode
position_actual_value 6064h_00h Actual position value
The first transmit PDO (TPDO 1) should be used, which should always be sent whenever one of the
digital inputs changes, but at a maximum of every 10 ms. As an identifier for this PDO, 187h should
be used.
1. Deactivating PDO
If the PDO is active, it must first be deactivated.
Reading out of the identifier: 40000181h= cob_id_used_by_pdo
Setting of bit 31 (deactivate): cob_id_used_by_pdo = C0000181h
2. Deleting number of objects
Set the number of objects to 0 in order to be able to
change the object mapping. number_of_mapped_objects = 0
3. Parametrisation of objects that are to be mapped
The above-listed objects must be combined into a 32 bit value:
Index = 6041h Subindex = 00h Length = 10h first_mapped_object = 60410010h
Index = 6061h Subindex = 00h Length = 08h second_mapped_object = 60610008h
Index = 6064h Subindex = 00h Length = 20h third_mapped_object = 60640020h
4. Parametrisation of number of objects
The PDO should contain 3 objects. number_of_mapped_objects = 3h
5. Parametrisation of transmission type
The PDO should be sent when changes (to the digital
inputs) are sent. transmission_type = FFh
To ensure that only changes to the actual position
value result in transmission, the PDO is masked so
that only the 16 bits of the object 6064h “come
through”.
transmit_mask_high = 00FFFF00h
transmit_mask_low = 00000000h
The PDO should be sent no more than every 10 ms
(100 x 100 μs). inhibit_time = 64h
6. Parametrisation of identifiers
The PDO should be sent with identifier 187h.
Writing new identifier: cob_id_used_by_pdo = C0000187h
Activating by deletion of bit 31: cob_id_used_by_pdo = 40000187h
Note that parametrisation of the PDOs may generally only be changed when the network
status (NMT) is not operational ( Chapter 3.3.3).
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28 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.3.2 Objects for PDO Parametrisation
The motor controllers of the CMMS series contain a total of 2 transmit and 2 receive PDOs. The individu-
al objects for parametrisation of these PDOs are the same for all 2 TPDOs and all 2 RPDOs respectively.
For that reason, only the parameter description of the first TPDO is explicitly listed. The meaning can
also be used for the other PDOs, which are listed in table form in the following:
Index 1800h
Name transmit_pdo_parameter_tpdo1
Object Code RECORD
No. of Elements 3
Sub-Index 01hDescription cob_id_used_by_pdo_tpdo1
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range 181h… 1FFh, bit 30 and 31 may be set
Default Value C0000181h
Sub-Index 02hDescription transmission_type_tpdo1
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0 … 8Ch, FEh, FFh
Default Value FFh
Sub-Index 03hDescription inhibit_time_tpdo1
Data Type UINT16
Access rw
PDOMapping no
Units 100 μs (i.e. 10 = 1 ms)
Value Range –
Default Value 0
Index 1A00h
Name transmit_pdo_mapping_tpdo1
Object Code RECORD
No. of Elements 4
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Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 29
Sub-Index 00hDescription number_of_mapped_objects_tpdo1
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0 … 4
Default Value Table
Sub-Index 01hDescription first_mapped_object_tpdo1
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value Table
Sub-Index 02hDescription second_mapped_object_tpdo1
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value Table
Sub-Index 03hDescription third_mapped_object_tpdo1
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value Table
3 CANopen access procedure
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Sub-Index 04hDescription fourth_mapped_object_tpdo1
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value Table
Note that the object groups transmit_pdo_parameter_xxx and
transmit_pdo_mapping_xxx can only be written when the PDO is deactivated (bit 31 in
cob_id_used_by_pdo_xxx is set).
1. Transmit PDO
Index Comment Type Acc. Default Value
1800h_00h number of entries UINT8 ro 03h
1800h_01h COB-ID used by PDO UINT32 rw C0000181h
1800h_02h transmission type UINT8 rw FFh
1800h_03h inhibit time (100 μs) UINT16 rw 0000h
1A00h_00h number of mapped objects UINT8 rw 01h
1A00h_01h first mapped object UINT32 rw 60410010h
1A00h_02h second mapped object UINT32 rw 00000000h
1A00h_03h third mapped object UINT32 rw 00000000h
1A00h_04h fourth mapped object UINT32 rw 00000000h
2. Transmit PDO
Index Comment Types Acc. Default Value
1801h_00h number of entries UINT8 ro 03h
1801h_01h COB-ID used by PDO UINT32 rw C0000281h
1801h_02h transmission type UINT8 rw FFh
1801h_03h inhibit time (100 μs) UINT16 rw 0000h
1A01h_00h number of mapped objects UINT8 rw 02h
1A01h_01h first mapped object UINT32 rw 60410010h
1A01h_02h second mapped object UINT32 rw 60610008h
1A01h_03h third mapped object UINT32 rw 00000000h
1A01h_04h fourth mapped object UINT32 rw 00000000h
3 CANopen access procedure
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tpdo_1_transmit_mask
Index Comment Type Acc. Default Value
2014h_00h number of entries UINT8 ro 02h
2014h_01h tpdo_1_transmit_mask_low UINT32 rw FFFFFFFFh
2014h_02h tpdo_1_transmit_mask_high UINT32 rw FFFFFFFFh
tpdo_2_transmit_mask
Index Comment Type Acc. Default Value
2015h_00h number of entries UINT8 ro 02h
2015h_01h tpdo_2_transmit_mask_low UINT32 rw FFFFFFFFh
2015h_02h tpdo_2_transmit_mask_high UINT32 rw FFFFFFFFh
1. Receive-PDO
Index Comment Type Acc. Default Value
1400h_00h number of entries UINT8 ro 02h
1400h_01h COB-ID used by PDO UINT32 rw C0000201h
1400h_02h transmission type UINT8 rw FFh
1600h_00h number of mapped objects UINT8 rw 01h
1600h_01h first mapped object UINT32 rw 60400010h
1600h_02h second mapped object UINT32 rw 00000000h
1600h_03h third mapped object UINT32 rw 00000000h
1600h_04h fourth mapped object UINT32 rw 00000000h
2. Receive-PDO
Index Comment Type Acc. Default Value
1401h_00h number of entries UINT8 ro 02h
1401h_01h COB-ID used by PDO UINT32 rw C0000301h
1401h_02h transmission type UINT8 rw FFh
1601h_00h number of mapped objects UINT8 rw 02h
1601h_01h first mapped object UINT32 rw 60400010h
1601h_02h second mapped object UINT32 rw 60600008h
1601h_03h third mapped object UINT32 rw 00000000h
1601h_04h fourth mapped object UINT32 rw 00000000h
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3.3.3 Activation of PDOs
For the motor controller to send or receive PDOs, the following points must be met:
– The object number_of_mapped_objects must not equal 0.
– In the object cob_id_used_for_pdos, bit 31 must be deleted.
– The communication status of the motor controller must be operational ( Chapter 3.6, Network
Management: NMT-Service).
3.4 SYNC message
Several devices of a system can be synchronised with each other. To do this, one of the devices (usually
the higher-order controller) periodically sends out synchronisation messages. All connected controllers
receive these messages and use them for treatment of the PDOs ( Chapter 3.3).
80h 0
Identifier Data length
The identifier on which the motor controller receives the SYNCmessage is set permanently to 080h. The
identifier can be read via the object cob_id_sync.
Index 1005h
Name cob_id_sync
Object Code VAR
Data Type UINT32
Access rw
PDOMapping no
Units --
Value Range 80000080h, 00000080h
Default Value 00000080h
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3.5 EMERGENCYMessage
The motor controller monitors the function of its major assemblies. These include the power supply,
output stage, angle encoder evaluation, etc. In addition, the motor (temperature, angle encoder) and
the limit switches are frequently checked. Incorrect parameter setting can also result in error messages
(division by 0, etc.).
If an error occurs, the error number is shown in the motor controller's display and, if necessary, an error
response is initiated. If several error messages occur simultaneously, the message with the highest
priority (lowest number) is always shown in the display.
3.5.1 Overview
If an error occurs or an error acknowledgment is carried out, the motor controller transmits an EMER-
GENCY message.
2
Error free
Error occured
0
1
3
4
After conducting a reset the motor controller is in an Error free status. If an error is present from the
beginning, the status is exited immediately again. The following status transitions are possible:
No. Cause Meaning
0 Initialisation completed –
1 Error occurs No error is present and an error occurs. An EMERGENCY telegram
with the error code of the occurring error is sent.
2 Error acknowledgment
(unsuccessful)
An error acknowledgment ( Chap. 5.1.5) is attempted, but not all
causes are eliminated.
3 Error occurs An error is present and an additional error occurs. An EMERGENCY
telegram with the error code of the new error is sent.
4 Error acknowledgment
(successful)
An error acknowledgment is attempted, and all causes are eliminated.
AnEMERGENCY telegram with the error code 0000 is sent.
Tab. 3.6 Possible status transitions
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3.5.2 Structure of the EMERGENCYMessage
When an error occurs, the motor controller transmits an EMERGENCY message. In a default case
( Object 6510_F0), the identifier of this message is made up of the identifier 80h and the node ID of
the relevant motor controller.
The EMERGENCY message consists of eight bytes, whereby the first two bytes contain an error_code
(see the following table). An additional error code is in the third byte (object 1001h). The remaining five
bytes contain zeros.
81h 8 E0 E1 R0 0 0 0 0 0
Identifier: 80h + node ID
Error_code
Data length Error_register (obj. 1001h)
error_register (R0)
Bit M/O1) Meaning
0 M generic error: Error present (OR operation of bits 1 … 7)
1 O current: I2t-error
2 O voltage: Voltage monitoring error
3 O temperature: Motor over-temperature
4 O communication error: (overrun, error state)
5 O device profile specific
6 O reserved, fix = 0
7 O manufacturer specific
Values: 0 = no error; 1 = error present
1) M = required / O = optional
Tab. 3.7 Bit assignment error_register
The error codes as well as the cause and measures can be found in chapter A “ Diagnostic messages”.
3.5.3 Description of the Objects
Object 1001h: error_register
The error type defined in the CiA 301 can be read via the object error_register.
Sub-Index 00hDescription error_register
Data Type UINT8
Access ro
PDOMapping yes
Units –
Value Range 0 … FFh
Default Value 0
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 35
Object 1003h: Pre_defined_error_field
The respective error_code of the error messages is also stored in a four-stage error memory. This is
structured like a shift register, so that the last occurring error is always stored in the object 1003h_01h
(standard_error_field_0). Through read access to the object 1003h_00h (pre_defined_error_field_0), it
can be determined how many error messages are currently stored in the error memory. The error
memory is cleared by writing the value 00h into the object 1003h_00h (pre_defined_error_field_0). To
be able to reactivate the output stage of the motor controller after an error, an error acknowledgement
( Chapter 5.1, Status diagram (State Machine)) must also be performed.
Index 1003h
Name pre_defined_error_field
Object Code ARRAY
No. of Elements 4
Data Type UINT32
Sub-Index 01hDescription standard_error_field_0
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 02hDescription standard_error_field_1
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 03hDescription standard_error_field_2
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
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Sub-Index 04hDescription standard_error_field_3
Access ro
PDOMapping no
Units –
Value Range –
Default Value –
Object 1014h_00h: cob-id_emergency_object
This object contains the cob-id (identifier) of the emergencymessage.
The contents of this object are dependent on the object 6510_F0, compatibility control:
– Default, dependent on NodeID (bit 3 of 6510_F0 = 0):
Emcy CobID can be read out: 80h + NodeID
– Freely adjustable Emcy CobID (bit 3 of 6510_F0 = 1):
Value is readable and writeable, range of values 81h .. FFh.
Sub-Index 00hDescription cob-id_emergency_object
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value 80h + node ID
3.6 Network Management (NMT Service)
All CANopen equipment can be triggered via the Network Management. Reserved for this is the identifi-
er with the top priority (000h). By means of NMT, commands can be sent to one or all motor controllers.
Each command consists of two bytes, whereby the first byte contains the command code (command
specifier, CS) and the second byte the node ID (node id, NI) of the addressed motor controller. Through
the node ID zero, all nodes in the network can be addressed simultaneously. It is thus possible, for
example, that a reset is triggered in all devices simultaneously. The motor controllers do not acknow-
ledge the NMT commands. Successful implementation of the reset can only be determined indirectly
(e.g. through the switch-on message after a reset).
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 37
Structure of the NMTmessage:
000h 2 CS NI
Identifier: 000h
Command specifier
Data length Node ID
For the NMT status of the motor controller (NMT participant), statuses are established in a status dia-
gram. Changes in statuses can be triggered via the CS byte in the NMTmessage. These are largely ori-
ented on the target status.
Stopped (04h)
Initialisation
Reset communication
Pre-Operational (7Fh)
Operational (05h)
aD
aC
aB
7
86
9
aJ
aA
5
2
3
4
Reset Application
aE
1
Fig. 3.2 Status diagram
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38 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
The NMT status of the motor controller can be influenced via the following commands:
Transition Significance CS Target status
3 Start Remote Node 01h Operational 05h
4 Enter Pre-Operational 80h Pre-Operational 7Fh
5 Stop Remote Node 02h Stopped 04h
6 Start Remote Node 01h Operational 05h
7 Enter Pre-Operational 80h Pre-Operational 7Fh
8 Stop Remote Node 02h Stopped 04h
9 Reset Communication 82h Reset Communication 1)
10 Reset Communication 82h Reset Communication 1)
11 Reset Communication 82h Reset Communication 1)
12 Reset Application 81h Reset Application 1)
13 Reset Application 81h Reset Application 1)
14 Reset Application 81h Reset Application 1)
1) The final target status is pre-operational (7Fh), since the transitions 15, 16 and 2 are automatically performed by the motor
controller.
Tab. 3.8 NMT-State Machine
All other status transitions are performed automatically by the motor controller, e.g. because the initial-
isation is completed internally.
In the NI parameter, the node ID of the motor controller must be specified, or it should be 0 if all nodes
in the network are to be addressed (broadcast). Depending on the NMT status, certain communication
objects cannot be used: For example, it is absolutely necessary to set the NMT status to operational so
that the motor controller sends PDOs.
Name Significance SDO PDO NMT
Reset
Application
No Communication. All CAN objects are reset to their reset
values (application parameter set).
– – –
Reset
Communication
No Communication. The CAN controller is newly initialised. – – –
Initialising Status after hardware reset. Resetting of the CAN node,
sending of the bootup message.
– – –
Pre-Operational Communication via SDOs possible; PDOs not active
(no sending/evaluating).
X – X
Operational Communication via SDOs possible. All PDOs active
(sending/evaluating).
X X X
Stopped No communication except for heartbeating. – – X
Tab. 3.9 NMT-State Machine
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 39
NMT telegrams must not be sent in a burst (one immediately after another)!
At least twice the communication cycle time (2 x 6.4 ms) must lie between two consecut-
ive NMTmessages on the bus with the same identifier (also for different nodes!) for the
motor controller to process the NMTmessages correctly.
If necessary, the NMT command “Reset Application” is delayed until an ongoing saving
procedure is completed, since otherwise the saving procedure would remain incomplete
(defective parameter set).
The delay can be in the range of a few seconds.
The NMT status must be set to operational for the motor controller to transmit and re-
ceive PDOs.
3.6.1 Boot-up (Boot-up Protocol)
Overview
After the power supply is switched on or after a reset, the motor controller reports via a Bootup mes-
sage that the initialisation phase is ended. The motor controller is then preoperational in the NMT
status ( Chapter 3.6, Network Management (NMT Service)).
Structure of the boot-up message
The Boot-up message is structured almost identically to the Heartbeat message ( Section 3.6.7).
In the Boot-up message a 0 is sent instead of the NMT status.
701h 1 0
Identifier: 700h + node ID (example node ID 1)
Boot-up message identifier
Data length
3 CANopen access procedure
40 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
3.6.2 Start Remote Node
The NMT-master uses the NMT-service Start Remote Node to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is operational.
Structure of the Start Remote Node message
000h 2 1 NI
Identifier: 000h
Command specifier
Data length Node ID
3.6.3 Stop Remote Node
The NMT-master uses the NMT-service Stop Remote Node to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is stopped.
Structure of the Stop Remote Node message
000h 2 2 NI
Identifier: 000h
Command specifier
Data length Node ID
3.6.4 Enter Pre-Operational
The NMT-master uses the NMT-service Enter Pre-Operational to change the NMT-status of the selected
NMT-participant. If processed successfully, the new NMT status is pre-operational.
Structure of the Enter Pre-Operational message
000h 2 128 NI
Identifier: 000h
Command specifier
Data length Node ID
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 41
3.6.5 Reset Node
The NMT-master uses the NMT-service Reset Node to change the NMT-status of the selected NMT-par-
ticipant. If processed successfully, the new sub-NMT status is reset application.
Structure of the Reset Node message
000h 2 129 NI
Identifier: 000h
Command specifier
Data length Node ID
3.6.6 Reset Communication
The NMT-master uses the NMT-service Reset Communication to change the NMT-status of the selected
NMT-participant. If processed successfully, the new sub-NMT status is reset communication.
Structure of the Reset Communication message
000h 2 130 NI
Identifier: 000h
Command specifier
Data length Node ID
3.6.7 Heartbeat (Error Control Protocol)
Overview
The so-called Heartbeat protocol can be activated to monitor communication between the slave (drive)
and master: Here, the drive sends messages cyclically to the master. The master can check whether
these messages occur cyclically and introduce corresponding measures if they do not.
Since both the Heartbeat and Nodeguarding telegrams ( Section 3.6.8) are sent with
the identifier 700h + node ID, both protocols cannot be active simultaneously. If an at-
tempt is made to activate both protocols simultaneously, only the Heartbeat protocol will
be active.
Structure of the Heartbeat message
The Heartbeat telegram is transmitted with the identifier 700h + node ID. It contains only 1 byte of user
data, the NMT status of the motor controller ( Chapter 3.6, Network Management (NMT Service)).
3 CANopen access procedure
42 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
701h 1 N
Identifier: 700h + node ID (example node ID 1)
NMT status
Data length
N Meaning
00h Boot-up
04h Stopped
05h Operational
7Fh Pre-Operational
Description of the objects
Object 1017h: producer_heartbeat_time
To activate the Heartbeat function, the time between two Heartbeat telegrams can be established via
the object producer_heartbeat_time.
Index 1017h
Name producer_heartbeat_time
Object Code VAR
Data Type UINT16
Access rw
PDO no
Units ms
Value Range 0 … 65535
Default Value 0
The producer_heartbeat_time can be stored in the parameter record. If the motor controller starts with
a producer_heartbeat_time not equal to 0, the boot-up message is considered to be the first Heart-
beat.
The motor controller can only be used as a so-called heartbeat producer. The object 1016h
(consumer_heartbeat_time) is therefore implemented only for compatibility reasons and always
returns 0.
3.6.8 Nodeguarding (Error Control Protocol)
Overview
The so-called Nodeguarding protocol can alternatively be used to monitor communication between the
slave (drive) and master. In contrast to the Heartbeat protocol, master and slave monitor each other:
The master queries the drive cyclically about its NMT status. In every response of the motor controller,
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 43
a specific bit is inverted (toggled). If these responses are not made or the motor controller always re-
sponds with the same toggle bit, the master can react correspondingly. Likewise, the drive monitors the
regular arrival of the Nodeguarding requests from the master: If messages are not received for a certain
time period, the motor controller triggers error 12-4. Since both the Heartbeat and Nodeguarding tele-
grams ( Section 3.6.7) are sent with the identifier 700h + node ID, both protocols cannot be active
simultaneously. If an attempt is made to activate both protocols simultaneously, only the Heartbeat
protocol will be active.
Structure of the Nodeguarding messages
The master's request must be sent as a so-called remote frame with the identifier 700h + node ID. In
the case of a remote frame, a special bit is also set in the telegram, the remote bit. Remote frames have
no data.
701h R 0
Identifier: 700h + node ID (example node ID 1)
Remote bit (Remote frames have no data)
The response of the motor controller is constructed analogously to the Heartbeat message. It contains
only 1 byte of user data, the toggle bit and the NMT status of the motor controller ( Chapter 3.6).
701h 1 T/N
Identifier: 700h + node ID (example node ID 1)
Toggle bit / NMT status
Data length
The first data byte (T/N) is constructed in the following way:
Bit Value Name Significance
7 80h toggle_bit Changes with every telegram
0 … 6 7Fh nmt_state 00h Boot-up
04h Stopped
05h Operational
7Fh Pre-Operational
The monitoring time for the master's requests can be parametrised. Monitoring begins with the first
received remote request of the master. From this time on, the remote requests must arrive before ex-
piration of the set monitoring time.
The toggle bit is reset through the NMT command Reset Communication. It is therefore not set in the
first response of the motor controller.
3 CANopen access procedure
44 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Description of the Objects
Object 100Ch: guard_time
To activate the Nodeguarding monitoring, the maximum time between two remote requests of the mas-
ter is parametrised. This time is established in the motor controller from the product of guard_time
(100Ch) and life_time_factor (100Dh):
node_guarding_time = guard_time * life_time_factor
It is therefore recommended to write the life_time_factor with 1 and then specify the time directly via
the guard_time in milliseconds.
Index 100Ch
Name guard_time
Object Code VAR
Data Type UINT16
Access rw
PDOMapping no
Units ms
Value Range 0 … 65535
Default Value 0
Object 100Dh: life_time_factor
Recommendation: Write the life_time_factor with 1 to specify the guard_time directly.
Index 100Dh
Name life_time_factor
Object Code VAR
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0.255
Default Value 0
3 CANopen access procedure
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 45
3.7 Table of Identifiers
The following table provides an overview of the identifiers used:
Object type Identifier (hexadecimal) Comment
SDO (host to motor controller) 600h + node ID
SDO (motor controller to host) 580h + node ID
TPDO1 (motor controller to host) 180h + node ID Standard values.
Can be changed if needed or can
change with the set NodeID.
TPDO2 (motor controller to host) 280h + node ID
RPDO1 (host to motor controller) 200h + node ID
RPDO2 (host to motor controller) 300h + node ID
SYNC 080h
EMCY 080h + node ID
HEARTBEAT 700h + node ID
NODEGUARDING 700h + node ID
BOOTUP 700h + node ID
NMT 000h
3.8 Internal sequence of CANopen processing
The temporal processing of all CANopen communication objects is based on an internal 1.6 ms timer.
This processes all of the communication objects, PDOs and SYNC required for PDO communication
every 1.6 ms. Exactly one of the active PDOs is processed every 1.6 ms. I.e. when all 4 PDOs are active,
it will require 6.4 ms to process all of the PDOs.
The other CANopen communication objects, SDOs, Heartbeat, Nodeguarding, Boot-up and all NMTs are
processed during every second cycle, i.e. every 3.2 ms.
Note: Since all NMTs are received in a common CAN Message Buffer, it must be ensured that several
NMT messages with the identifier 000h are not sent within 3.2 ms.
4 Setting parameters
46 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
4 Setting parameters
Before the motor controller can carry out the desired task (torque regulation, speed adjustment, posi-
tioning), numerous parameters of the motor controller must be adapted to the motor used and the
specific application. The sequence in the subsequent chapters should be followed thereby. After set-
ting of the parameters, device control and use of the various operating modes are explained.
Besides the parameters described in depth here, the object directory of the motor controller contains
other parameters that have to be implemented in accordance with CANopen. But they normally do not
include any information that can sensibly be used in designing an application with a motor controller
CMMS-AS/CMMD-AS/CMMS-ST. If required, read about this in the CiA specifications.
4.1 Loading and saving parameter sets
Overview
The motor controller has three parameter sets:
– Current parameter set
This parameter set is located in the volatile memory (RAM) of the motor controller. It can be read
and written on as desired with the parametrisation software or via the CAN bus.
– Default parameter set
This is the parameter set of the motor controller provided standard by the manufacturer and is un-
changeable. Through a write process into the CANopen object 1011h_01h (restore_all_de-
fault_parameters), the default parameter set can be copied into the current parameter set. This
copying process is only possible when the output stage is switched off.
– Application parameter set
The current parameter set can be stored in the non-volatile flash memory. The storage process can
be triggered with a read access to the CANopen object 1010h_01h (save_all_parameters). When the
motor controller is switched on, the application parameter set is automatically copied into the cur-
rent parameter set.
This copying process is only possible when the output stage is switched off
Information on loading and saving parameter sets with a memory card and FCT plug-in can
be found in the description Functions and commissioning, GDCP-CMMS/D-FW-....
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 47
The following diagram illustrates the connections between the individual parameter sets.
CANopenobject
1011
Switchingon of the
controller
CANopenobject
1010
Default parameter setApplicationparameter set
Current parameter set
Fig. 4.1 Connections between parameter sets
Note
Before the output stage is switched on for the first time, make sure the motor controller
actually includes the parameters you want.
An incorrectly parametrised motor controller can result in uncontrolled operation of the
motor and cause personal injury or material damage.
Description of the objects
Object 1011h: restore_default_parameters
Object 1011h enables the following:
– The default parameter set is copied into the application parameter set.
– The application parameter set is saved in the flash memory in a non-volatile manner.
– The application parameter set is loaded into the current parameter set.
Index 1011h
Name restore_parameters
Object Code ARRAY
No. of Elements 1
Data Type UINT32
4 Setting parameters
48 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Sub-Index 01hDescription restore_all_default_parameters
Access rw
PDOMapping no
Units –
Value Range 64616F6Ch (“load”)
Default Value 1 (read access)
Signature MSB LSB
ASCII d a o l
hex 64h 61h 6Fh 6Ch
Tab. 4.1 Example for ASCII text “load”
The object 1011h_01h (restore_all_default_parameters) makes it possible to put the current parameter
set into a defined state. To achieve this, the default parameter set is copied into the current parameter
set. The copying process is triggered by a write access to this object, whereby the ASCII text “load”
must be transferred as a record in hexadecimal form.
This command is only carried out with a deactivated output stage. Otherwise, the SDO error “Data
cannot be transmitted or stored, since the motor controller for this is not in the correct state” is gener-
ated (error code 08 00 00 22h Section 3.2.2). If the incorrect identifier is sent, the error “Data cannot
be transmitted or stored” is generated (error code 08 00 00 20h Section 3.2.2). If the object is ac-
cessed by reading, a 1 is returned to show that resetting to default values is supported.
The CAN communication parameters (node no., baud rate and operating mode) as well as numerous
angle encoder settings (some of which require a reset to become effective) remain unchanged.
Object 1010h: store_parameters
Index 1010h
Name store_parameters
Object Code ARRAY
No. of Elements 1
Data Type UINT32
Sub-Index 01h
Description save_all_parameters
Access rw
PDOMapping no
Units –
Value Range 65766173h (“save”)
Default Value 1
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 49
Signature MSB LSB
ASCII e v a s
hex 65h 76h 61h 73h
Tab. 4.2 Example for ASCII text “save”
If the default parameter set should also be taken over into the application parameter set, then the
object 1010h_01h (save_all_parameters) must be written with the ASCII text “save”.
If the object is written via an SDO, the default behaviour is that the SDO is only answered after saving.
4.2 Conversion factors (Factor Group)
Overview
Motor controllers are used in a number of applications: As direct drive, with following gear, for linear
drive, etc. To permit easy parametrisation, the motor controller can be parametrised with the help of
the factor group so that the user can specify or read out all variables, such as speed, directly in the
desired units at the output (e.g. with a linear axis position value in millimetres and speeds in milli-
metres per second). The motor controller then uses the factor group to calculate the entries in its in-
ternal units of measurement. For each physical variable, (position, speed and acceleration), there is a
conversion factor available to adapt the user units to the own application. The units set through the
factor group are generally designated position_units, speed_units or acceleration_units. The following
sketch illustrates the function of the factor group:
Position Factor
Position
Factor groupUser units Internal controllerunits
Position units
Speed units
±1
position_polarity_flag
Acceleration units
±1
Velocity factor
Speed
Acceleration factor
Acceleration
Increments (Inc.)
1 Rotationmin
1 Rotation min
256 sec
±1
±1velocity_polarity_flag
Fig. 4.2 Factor group
All parameters are stored in the motor controller in its internal units and only converted with the help of
the factor group when being written in or read out.
Recommendation: Set the factor group first during parameterisation and do not change it during the
parameterisation process.
4 Setting parameters
50 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Note that when converting the units a rounding error of ± 1 increment is always possible.
If the factor group is not activated or parameterised, the following units are used:
Size Designation Unit Explanation
Length Position units Increments 65536 increments per revolution
Speed Speed units rpm-1 Revolutions per minute
Acceleration Acceleration units rpm/s * 256 Rotational speed increase per second
Tab. 4.3 Factor group default settings
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
607Eh VAR polarity UINT8 rw
6093h ARRAY position_factor UINT32 rw
6094h ARRAY velocity_encoder_factor UINT32 rw
6097h ARRAY acceleration_factor UINT32 rw
Object 6093h: position_factor
The object position_factor converts all length units of the application from position_units into the
internal unit increments (65536 increments equal 1 revolution). It consists of numerator and
denominator.
Motor Gear units
AxisMotor with gear unit
RIN
ROUT
x in positioning unit(e.g. “mm”)
x in positioning unit(e.g. “degrees”)
Fig. 4.3 Calculating the position units
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 51
Index 6093h
Name position_factor
Object Code ARRAY
No. of Elements 2
Data Type UINT32
Sub-Index 01hDescription numerator
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
Sub-Index 02hDescription divisor
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
The following parameters are involved in the calculation formula of the position_factor:
Parameters Description
gear_ratio Gear ratio between revolutions at the drive (RIN) and revolutions at the drive-out
(ROUT)
feed_constant Ratio between revolutions at the drive-out (ROUT) and movement in posi-
tion_units (e.g. 1 R = 360 degrees)
Tab. 4.4 Position factor parameters
The position_factor is calculated using the following formula:
position_factor = numeratordivisor
=Gear ratio * IncrementsRotation
Feed Constant
The position_factor must be written to the motor controller separated into numerators and denominat-
ors. This can make it necessary to bring the fraction up to whole integers by expanding it accordingly.
EXAMPLE
First, the desired unit (column 1) and the desired number of decimal places (DP) must be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2). Finally all values can be entered into the for-
mula and the fraction can be calculated:
4 Setting parameters
52 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Position factor calculation sequence
Position units Feed constant Gear ratio Formula Result
shortened
Degree,
1 DP
1/10 degree
(°/10)
1 ROUT =
3600 °10
1/1 11* 65536 Inc
3600 °10
=
65536 Inc
3600 °10
num : 4096
div : 225
Fig. 4.4 Position factor calculation sequence
Examples of calculating the position factor
Position
units1)Feed
constant2)Gear
ratio3)Formula element4) Result
shortened
Increments,
0 DP
Inc.
1 ROUT =
65536 Inc
1/1 11* 65536 Inc
65536 Inc=
1 Inc1 Inc
num : 1div : 1
Degree,
1 DP
1/10 degree
(°/10)
1 ROUT =
3600 °10
1/1 11* 65536 Inc
3600 °10
=
65536 Inc
3600 °10
num : 4096
div : 225
Rev.,
2 DP
1/100 Rev.
(R/100)
1 ROUT =
100R
100
1/1 11* 65536 Inc
1001
100
=
65536 Inc
1001
100
num : 16384
div : 25
2/3 23* 65536 Inc
1001
100
=
131072 Inc
3001
100
num : 32768
div : 75
mm,
1 DP
1/10 mm
(mm/10)
1 ROUT =
631,5mm10
4/5 45* 65536 Inc
631, 5mm10
=
2621440 Inc
31575mm10
num: 524288
div: 6315
1) Desired unit at the drive-out
2) Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive * 10-DP (points after the decimal)
3) Revolutions at the drive per revolutions at the drive-out (RIN per ROUT)
4) Insert values into equation.
Tab. 4.5 Examples of calculating the position factor
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 53
6094h: velocity_encoder_factor
The object velocity_encoder_factor converts all speed values of the application from speed_units into
the internal unit revolutions per minute. It consists of numerator and denominator.
Index 6094h
Name velocity_encoder_factor
Object Code ARRAY
No. of Elements 2
Data Type UINT32
Sub-Index 01hDescription numerator
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
Sub-Index 02hDescription divisor
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
Calculation of the velocity_encoder_factor is in principle made up of two parts: A conversion factor
from internal length units into position_units, and a conversion factor from internal time units into user-
defined time units (e.g. from seconds into minutes). The first part corresponds to the calculation of the
position_factor. For the second part, an additional factor is added to the calculation:
Parameter Description
time_factor_v The ratio between the internal time unit and the user-defined time unit.
gear_ratio Gear ratio between revolutions at the drive (RIN) and revolutions at the drive-out
(ROUT)
feed_constant Ratio between revolutions at the drive-out (ROUT) and movement in
position_units (e.g. 1 R = 360 degrees)
Tab. 4.6 Speed factor parameters
The calculation of the velocity_encoder_factor uses the following equation:
velocity_encoder_factor = numeratordivisor
=gear_ratio * time_factor_v
feed_constant
4 Setting parameters
54 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Like the position_factor, the velocity_encoder_factor also has to be written to the motor controller
separated into numerators and denominators. This can make it necessary to bring the fraction up to
whole integers by expanding it accordingly.
EXAMPLE
First, the desired unit (column 1) and the desired number of decimal places (DP) must be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2). Then the desired time unit is converted into the
time unit of the motor controller (column 3).
Finally all values can be entered into the formula and the fraction can be calculated:
Velocity factor calculation sequence
Speed
units
Feed
const.
Time Constant Gear Equation Result
shortened
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
63,15mmR
⇒
1 ROUT =
631,5mm10
11s =
601
min=
60 *1
min
4/545*
60 *1
min
11s
631,5mm10
=
4801
min
6315mm10s
num: 32
div: 421
Fig. 4.5 Velocity factor calculation sequence
Examples of calculating the speed factor
Speed
units1)Feed
const.2)Time constant3) Gear
4)
Equation5) Result
shortened
R/min,
0 DP
R/min
1 ROUT =
1 ROUT
11
min1/1
11*
11
min
11
min
1=
11
min
11
min
num: 1div: 1
R/min,
2 DP
1/100 R/min
( R/100 min )
1 ROUT =
100R
100
11
min2/3
23*
11
1min
11
min
1001
1001
=
21
min
3001
100 min
num: 1div: 150
°/s,
1 DP
1/10 °/s
( °/10 s )
1 ROUT =
3600 °10
11s =
601
min
1/111*
60 * 11
min
11s
3600 °10
1
=
601
min
3600 °10 s
num: 1div: 60
1) Desired unit at the drive-out
2) Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive * 10-DP (points after the decimal)
3) Time factor_v: Desired time unit per internal time unit
4) Gear factor: RIN per ROUT
5) Insert values into equation.
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 55
Examples of calculating the speed factor
Speed
units1)Result
shortened
Equation5)Gear4)
Time constant3)Feed
const.2)
mm/s,
1 DP
1/10 mm/s
( mm/10 s )
63,15mmR
⇒
1 ROUT =
631,5mm10
11s =
601
min
4/545*
60 * 11
min
11s
631,5mm10
1
=
4801
min
6315mm10 s
num: 32
div: 421
1) Desired unit at the drive-out
2) Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive * 10-DP (points after the decimal)
3) Time factor_v: Desired time unit per internal time unit
4) Gear factor: RIN per ROUT
5) Insert values into equation.
Tab. 4.7 Examples of calculating the speed factor
6097h: acceleration_factor
The object acceleration_factor converts all acceleration values of the application from accelera-
tion_units into the internal unit revolutions per minute per 256 seconds. It consists of numerator and
denominator.
Index 6097h
Name acceleration_factor
Object Code ARRAY
No. of Elements 2
Data Type UINT32
Sub-Index 01hDescription numerator
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
Sub-Index 02hDescription divisor
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 1
Calculation of the acceleration_factor is also made up of two parts: A conversion factor from internal
units of length into position_units, and a conversion factor from internal time units squared into the
4 Setting parameters
56 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
user-defined time units squared (e.g. from seconds2 into minutes2). The first part corresponds to the
calculation of the position_factor. For the second part, an additional factor is added:
Parameter Description
time_factor_a The ratio between the internal time unit squared and the user-defined time unit
squared.
(e.g. 1 min2= 1 min x 1 min = 60 s x 1 min = 60/256 256 min x s).
gear_ratio Gear ratio between revolutions at the drive (RIN) and revolutions at the drive-out
(ROUT).
feed_constant Ratio between revolutions at the drive-out (ROUT) and movement in
position_units (e.g. 1 R = 360 degrees)
Tab. 4.8 Acceleration factor parameter
Calculation of the acceleration_factor uses the following equation:
acceleration_factor = nummeratordivisor
=gear_ratio * time_factor_a
feed_constant
The acceleration_factor is also written into the motor controller separated by numerator and denomin-
ator, so it may have to be expanded.
EXAMPLE
First, the desired unit (column 1) and the desired number of decimal places (DP) must be specified,
along with the application's gear ratio and its feed constant (if applicable). The feed constant is then
displayed in the desired positioning units (column 2). Then the desired time unit is converted into the
time unit of the motor controller (column 3). Finally all values can be entered into the formula and the
fraction can be calculated:
Process of calculating the acceleration factor
Units of
acceleration
Feed
const.
Time Constant Gear Equation Result
shortened
mm/s²,
1 DP
1/10 mm/s²
( mm/10 s² )
63,15mmR
⇒
1 ROUT =
631,5mm10
11
s2=
601
min * s=
60 * 256
1min
256 * s
4/545*
60 * 2561
256 min * s
11
s2
631, 5mm10
=
122880
1min256 s
6315mm
10s2
num: 8192
div: 421
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 57
Examples of calculating the acceleration factor
Units of
acceleration1)Feed
const.2)Time constant3) Gear
4)
Equation5) Result
shortened
R/min,
0 DP
R/min s
1 ROUT =
1 ROUT
11
min * s=
256
1min
256 * s
1/111*
2561
256 min s
11
min * s
11
=
256
1min
256* s
1
1mins
num: 256
div: 1
°/s²,
1 DP
1/10 °/s²
( °/10 s² )
1 ROUT =
3600 °10
11
s2=
601
min * s=
60 * 256
1min
256 * s
1/111*
60 * 2561
256 min * s
11
s2
3600 °10
1
=
15360
1min
256 * s
3600 °10 s2
num: 64div: 15
R/min²,
2 DP
1/100R/min
²
( R/100 min² )
1 ROUT =
100R
100
11
min2=
1
60
1mins =
256
60
1min
256 * s
2/323*
2561
256 min * s
601
min2
1001
1001
=
512
1min256 s
180001
100min2
num: 32
div: 1125
mm/s²,
1 DP
1/10 mm/s²
( mm/10 s² )
63,15mmR
⇒
1 ROUT =
631,5mm10
11
s2=
601
min * s=
60 * 256
1min
256 * s
4/545*
60 * 2561
256 min * s
11
s2
631,5mm10
1
=
122880
1min256 s
6315mm
10 s2
num: 8192
div: 421
1) Desired unit at the drive-out
2) Positioning units per revolution at the drive-out (ROUT). Feed constant of the drive * 10-DP (points after the decimal)
3) Time factor_v: Desired time unit per internal time unit
4) Gear factor: RIN per ROUT
5) Insert values into equation.
Tab. 4.9 Examples of calculating the acceleration factor
Object 607Eh: polarity
The algebraic sign of the position and speed values of the motor controller can be set with the corres-
ponding polarity_flag. This can serve to invert the motor's direction of rotation with the same setpoint
values.
In most applications, it makes sense to set the velocity_polarity_flag and the position_polarity_flag to
the same value.
Setting of the polarity_flag influences only parameters when reading and writing. Parameters already
present in the motor controller are not changed.
4 Setting parameters
58 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index 607Eh
Name polarity
Object Code VAR
Data Type UINT8
Access rw
PDOMapping yes
Units –
Value Range 40h, 80h, C0h
Default Value 0
Bit Value Name Meaning
6 40h velocity_polarity_flag 0: multiply by 1 (default)
1: multiply by -1 (invers)
7 80h position_polarity_flag 0: multiply by 1 (default)
1: multiply by -1 (invers)
Object 6091h: gear_ratio
A gear unit can be set via this object.
The object is present, however it is only effective with the device profile FHPP.
Index 6091h
Name gear_ratio
Object Code RECORD
No. of Elements 2
Sub-Index 01h
Description motor_revolutions
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range 1 … FFFFFFFh
Default Value 1
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 59
Sub-Index 02h
Description shaft_revolutions
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range 1 … FFFFFFFh
Default Value 1
Object 6092h: feed_constant
The feed per motor revolution can be set over this object.
The object is present, however it is only effective with the device profile FHPP.
Index 6092h
Name feed_constant
Object Code RECORD
No. of Elements 2
Sub-Index 01h
Description feed
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range 1 … FFFFFFFh
Default Value 1
Sub-Index 02h
Description shaft_revolutions
Data Type UINT32
Access rw
PDOMapping no
Units –
Value Range 1 … FFFFFFFh
Default Value 1
4 Setting parameters
60 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
4.3 Output stage parameter
Overview
The mains voltage is fed in to the output stage via a precharging circuit. When the power supply is
switched on, the starting current is limited and charging is monitored. After precharging of the interme-
diate circuit, the charging circuit is bridged. This status is a requirement for the controller enable. The
rectified mains voltage is smoothed with the condensers of the intermediate circuit. From the interme-
diate circuit, the motor is powered via the IGBTs. The output stage contains a series of safety functions,
which can be partially parametrised:
– Controller enable logic (software and hardware enable)
– Overcurrent monitoring
– Overvoltage / undervoltage monitoring of the intermediate circuit
– Power partial monitoring
Description of the objects
Index Object Name Type Attr.
6510h RECORD Drive_data
Object 6510h_10h: enable_logic
For the output stage of the motor controller to be activated, the digital inputs output stage enable and
controller enable must be set.
Warning
Dangerous voltage!
A deactivated output stage or controller enable does not guarantee that the motor is
voltage-free.
• Observe the safety regulations for the motor controller in the specific description
“Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2.
When operating the motor controller over the CAN bus, the two digital inputs output stage enable and
controller enable can be placed together onto 24 V, and the enable can be controlled via the CAN bus.
For this, the object 6510h_10h (enable_logic) must be set to two. For safety reasons, this takes place
automatically with activation of CANopen (also after a reset of the motor controller).
Index 6510h
Name drive_data
Object Code RECORD
No. of Elements 12
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 61
Sub-Index 10hDescription enable_logic
Data Type UINT16
Access rw
PDOMapping no
Units –
Value Range 0 … 3, 6
Default Value 0
Value Meaning
0 Digital inputs output stage enable + controller enable
1 Digital inputs output stage enable + controller enable + RS232
2 Digital inputs output stage enable + controller enable + CAN
3 Digital inputs output stage enable + controller enable + PROFIBUS
6 Digital inputs output stage enable + controller enable + DeviceNet
Object 6510h_31h: power_stage_temperature
The temperature of the output stage can be read via the object power_stage_temperature. If the tem-
perature specified in object 6510h_32h (max_power_stage_temperature) is exceeded, the output
stage shuts off and an error message is output.
Sub-Index 31hDescription power_stage_temperature
Data Type INT16
Access ro
PDOMapping no
Units °C
Value Range –
Default Value –
Object 6510h_32h: max_power_stage_temperature
The temperature of the output stage can be read via the object 6510h_31h (power_stage_tempera-
ture). If the temperature specified in the object max_power_stage_temperature is exceeded, the out-
put stage shuts off and an error message is output.
Sub-Index 32hDescription max_power_stage_temperature
Data Type INT16
Access ro
PDOMapping no
Units °C
Value Range 100
Default Value Device-dependent
4 Setting parameters
62 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
4.4 Current Regulator and Motor Adjustment
Caution
Incorrect settings of the current regulator parameters and current limits can destroy the
motor and, possibly, also the motor controller within a very short time!
Overview
The parameter set of the motor controller must be adapted for the connected motor.
Caution
If the phase sequence is distorted in the motor or angle encoder cable, the result may
be positive feedback, so the speed in the motor cannot be regulated. The motor can
turn uncontrollably!
Description of the Objects
Index Object Name Type Attr.
6075h VAR motor_rated_current UINT32 rw
6073h VAR max_current UINT16 rw
604Dh VAR pole_number UINT8 rw
6410h RECORD motor_data rw
60F6h RECORD torque_control_parameters rw
Affected objects from other chapters
Index Object Name Type Chapter
2415h RECORD current_limitation 4.7 Setpoint value limitation
Object 6075h: motor_rated_current
This value can be taken from the motor rating plate and is entered in milliamperes. The effective value
(RMS) is always assumed. No current can be specified above the motor controller nominal current.
Index 6075h
Name motor_rated_current
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units ma
Value Range 0 … nominal_current (motor controller nominal current, see technical data)
Default Value 1499
If the object 6075h (motor_rated_current) is written over with a new value, the object
6073h (max_current) must always be parametrised again.
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 63
Object 6073h: max_current
As a rule, servo motors may be overloaded for a certain time period. With this object, the maximum
permissible motor current is set as a factor. It refers to the nominal motor current (Object 6075h:
motor_rated_current) and is set in thousandths. The range of values is limited upward through the
maximummotor controller current (see technical data). Many motors may be overloaded briefly by a
factor of 4. In this case, the value 4000 is written into this object.
The object 6073h (max_current) may only be written if the object 6075h
(motor_rated_current) was previously written with a valid value.
Index 6073h
Name max_current
Object Code VAR
Data Type UINT16
Access rw
PDOMapping yes
Units per thousands of rated current
Value Range –
Default Value 1675
Object 604Dh: pole_number
The number of poles of the motor can be found in the motor data sheet or the parametrisation soft-
ware. The number of poles is always even. The number of pole pairs is often specified instead of the
number of pins. The number of poles then equals twice the number of pole pairs.
Index 604Dh
Name pole_number
Object Code VAR
Data Type UINT8
Access rw
PDOMapping yes
Units –
Value Range 2 … 254
Default Value see table
Value Meaning
100 CMMS-ST
8 CMMS-AS
8 CMMD-AS
4 Setting parameters
64 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 6410h_03h: iit_time_motor
As a rule, servo motors may be overloaded for a certain time period. This object specifies how long
current can flow through the connected motor with the current specified in the object 6073h
(max_current). After expiration of the I2t time, to protect the motor the current is automatically limited
to the value set in object 6075h (motor_rated_current).
Index 6410h
Name motor_data
Object Code RECORD
No. of Elements 5
Sub-Index 03hDescription iit_time_motor
Data Type UINT16
Access rw
PDOMapping no
Units ms
Value Range 1000 … 10000
Default Value 1000
Object 6410h_04h: iit_ratio_motor
Through the object iit_ratio_motor, the current extent of utilisation of the I2t limitation can be read in
thousandths.
Sub-Index 04hDescription iit_ratio_motor
Data Type UINT16
Access ro
PDOMapping no
Units thousandths
Value Range –
Default Value –
The error is activated by changing the error response ( 4.12, Error management).
Object 6410h_10h: phase_order
In the phase sequence (phase_order), twisting between motor cable and angle encoder cable are taken
into account. It can be taken from the parameterisation software.
Sub-Index 10hDescription phase_order
Data Type INT16
Access rw
PDOMapping yes
Units –
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 65
Value Range 0, 1
Default Value 1
Value Meaning
0 Right
1 Left
Object 6410h_11h: resolver_offset_angle
The servo motors used have permanent magnets on the rotor. These generate a magnetic field, whose
orientation toward the stator depends on the rotor position. For electronic commutation, the motor
controller must always set the electromagnetic field of the stator in the correct angle to this permanent
magnet field. To do this, it constantly determines the rotor position with an angle encoder (EnDat, incre-
mental encoder, etc.).
The orientation of the angle encoder to the permanent magnetic field is entered in the object resolv-
er_offset_angle. This angle can be determined with the parametrisation software. The angle determ-
ined with the parametrisation software lies in the range of ± 180 °. It must be calculated as follows:
resolver_offset_angle = Offset angle of the angle encoder * 32767180°
Index 6410h
Name motor_data
Object Code RECORD
No. of Elements 5
Sub-Index 11hDescription resolver_offset_angle
Data Type INT16
Access rw
PDOMapping yes
Units –
Value Range -32767 … 32767
Default Value E000h (-45°) (according to factory setting)
Object 60F6h: torque_control_parameters
The data of the current regulator must be taken from the parametrisation software. The following calcu-
lations must be observed:
Amplification of the current regulator must be multiplied by 256. With an amplification of 1.5 in the
“Current Regulator” menu of the parametrisation software, the value 384 = 180h must be written in the
object torque_control_gain.
4 Setting parameters
66 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
The current regulator time constant is specified in the parametrisation software in milliseconds. To
transfer this time constant into the object torque_control_time, it must previously be converted into
microseconds. With a specified time of 0.6 milliseconds, the corresponding value 600 is entered in the
object torque_control_time.
Index 60F6h
Name torque_control_parameters
Object Code RECORD
No. of Elements 2
Sub-Index 01hDescription torque_control_gain
Data Type UINT16
Access rw
PDOMapping no
Units 256 = “1”
Value Range 0 … 32*256
Default Value 256
Sub-Index 02hDescription torque_control_time
Data Type UINT16
Access rw
PDOMapping no
Units μs
Value Range 104 … 64401
Default Value 2000
4.5 Velocity control
Overview
The parameter set of the motor controller must be adapted for the application. In particular, the ampli-
fication is strongly dependent on dimensions that may be connected to the motor. The data must be
optimally determined during commissioning of the system with the help of the parametrisation soft-
ware.
Caution
Incorrect setting of the speed regulator parameters can result in strong vibrations and
destroy parts of the system!
Description of the objects
Index Object Name Type Attr.
60F9h RECORD velocity_control_parameters rw
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 67
Object 60F9h: velocity_control_parameters
The data of the speed controller must be taken from the parametrisation software. The following calcu-
lations must be observed:
Amplification of the speed regulator must be multiplied by 256.
With an amplification of 1.5 in the “Speed Regulator” menu of the parametrisation software, the value
384 = 180h must be written in the object velocity_control_gain.
The speed regulator time constant is specified in the parametrisation software in milliseconds. To trans-
fer this time constant into the velocity_control_time object, it must previously be converted into micro-
seconds. With a specified time of 2.0 milliseconds, the corresponding value 2000 is entered in the ob-
ject velocity_control_time.
Index 60F9h
Name velocity_control_parameter_set
Object Code RECORD
No. of Elements 2
Sub-Index 01hDescription velocity_control_gain
Data Type UINT16
Access rw
PDOMapping no
Units 256 = Gain 1
Value Range 20 … 64*256 (16384)
Default Value 128
Sub-Index 02hDescription velocity_control_time
Data Type UINT16
Access rw
PDOMapping no
Units μs
Value Range 1 … 32000
Default Value 8000
Sub-Index 04hDescription velocity_control_filter_time
Data Type UINT16
Access rw
PDOMapping no
Units μs
Value Range 1 … 32000
Default Value 1600
4 Setting parameters
68 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
4.6 Position controller (Position Control Function)
Overview
This chapter describes all parameters required for the position controller. The position setpoint value
(position_demand_value) of the curve generator is applied to the input of the position controller. In
addition, the actual position value (position_actual_value) is added from the angle encoder (EnDat,
incremental encoder, etc.). The actions of the position controller can be influenced by parameters. It is
possible to limit the output variable (control_effort) to keep the position control loop stable. The out-
put variable is supplied to the speed regulator as the speed setpoint value. All input and output vari-
ables of the position controller are converted in the Factor Group from the application-specific units
into the respective internal units of the regulator.
The following subfunctions are defined in this chapter:
1. Following error (Following_Error)
The deviation of the actual position value (position_actual_value) from the position setpoint value
(position_demand_value) is designated as a following error. If this following error is greater than
specified in the following error window (following_error_window) for a specific time period (follow-
ing_error_time_out), then bit 13 following_error is set in the object statusword. The permissible
time period can be specified via the object following_error_time_out.
Following_error_window (6065h)
Following_error_time_out (6066h)
Statusword, bit 13 (6041h)
0
Following_error_window (6065h)
Fig. 4.6 Following error – functional overview
Fig. 4.7 below shows how the window function is defined for the “following error” message. The
tolerance range (following_error_window) is defined symmetrically around the setpoint position
reference value (position_demand_value) If the drive leaves this window and does not return to the
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 69
window within the time specified in the object following_error_time_out, then bit 13 following_error is
set in the statusword.
Item
accepted followingerror tolerance
reference position(position demand value)
followingerror
window
following error following errorno following error
followingerror
window
Fig. 4.7 Following error
2. Position reached (Position Reached)
This function offers the possibility of defining a position window around the target position
(target_position). If the actual position of the drive is located within this range for a specific time –
the position_window_time – the related bit 10 (target_reached) is set in the statusword.
Position_window (6067h)
Position_window_time (6068h)
Statusword, bit 10 (6041h)
0
Position_window (6067h)
Position_window (6067h)
Position_window_time (6068h)
Statusword, bit 10 (6041h)
0
Position_window (6067h)
Fig. 4.8 Position reached – functional overview
4 Setting parameters
70 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Fig. 4.9 below shows how the window function is defined for the “position reached” message. The area
position_window is defined symmetrically around the target position (target_position). If the drive is
located in this window, a timer is started in the motor controller. If this timer reaches the time specified
in the object position_window_time and the drive continuously remains in the valid range during this
time, then bit 10 target_reached is set in the statusword. As soon as the drive leaves the permissible
range, both bit 10 and the timer are set to 0.
Item
accepted position range
target position
position window
position reached
position window
position not reachedposition not reached
Fig. 4.9 Position reached
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
6062h VAR position_demand_value INT32 ro
6063h VAR position_actual_value_s INT32 ro
6064h VAR position_actual_value INT32 ro
6065h VAR following_error_window UINT32 rw
6066h VAR following_error_time_out UINT16 rw
6067h VAR position_window UINT32 rw
6068h VAR position_window_time UINT16 rw
60F4h VAR following_error_actual_value INT32 ro
60FAH VAR control_effort INT32 ro
60FBh RECORD position_control_parameter_set rw
Affected objects from other chapters
Index Object Name Type Chapter
607Ah VAR target_position INT32 6.3 Positioning operating mode
607Ch VAR home_offset INT32 6.2 Homing run
607Dh VAR software_position_limit INT32 6.3 Positioning operating mode
607Eh VAR polarity UINT8 4.2 Conversion factors
6093h VAR position_factor UINT32 4.2 Conversion factors
6094h ARRAY velocity_encoder_factor UINT32 4.2 Conversion factors
6096h ARRAY acceleration_factor UINT32 4.2 Conversion factors
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 71
Index ChapterTypeNameObject
6040h VAR controlword INT16 5.1.3 Control word (controlword)
6041h VAR statusword UINT16 5.1.5 Statuswords
Object 60FBh: position_control_parameter_set
The parameter set of the motor controller must be adapted for the application. The data of the position
controller must be optimally determined during commissioning using the parametrisation software.
Caution
Incorrect setting of the position regulator parameters can result in strong vibrations and
destroy parts of the system!
The position controller compares the target position with the actual position and, from the difference,
creates a correction speed (object 60FAh: control_effort), which is fed to the speed regulator.
The position controller is relatively slow, compared to the current and speed regulator. Therefore, the
controller works internally with activation, so the stabilisation work for the position controller is minim-
ised and the controller can rapidly stabilise.
A proportional link suffices as position controller. Amplification of the position controller must be multi-
plied by 256. With an amplification of 1.5 in the “Current Regulator” menu of the parametrisation soft-
ware, the value 384 must be written in the object position_control_gain.
Since the position controller already converts the smallest position deviations into appreciable correc-
tion speeds, in the case of a brief disturbance (e.g. brief jamming of the system) it would lead to very
major stabilisation processes with very large correction speeds. This can be avoided if the output of the
position controller is sensibly limited via the object position_control_v_max (e.g. 500 min-1).
The size of a position deviation up to which the position controller will not intervene (dead space) can
be defined with the object position_error_tolerance_window. This can be used for stabilisation, such as
when there is play in the system.
Index 60FBh
Name position_control_parameter_set
Object Code RECORD
No. of Elements 5
Sub-Index 01hDescription position_control_gain
Data Type UINT16
Access rw
PDOMapping no
Units 256 = “1”
Value Range 0 … 64*256 (16384)
Default Value 52
4 Setting parameters
72 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Sub-Index 04hDescription position_control_v_max
Data Type UINT32
Access rw
PDOMapping no
Units speed units
Value Range 0 … 131072 min-1
Default Value 500
Sub-Index 05hDescription position_error_tolerance_window
Data Type UINT32
Access rw
PDOMapping no
Units position units
Value Range 1 … 65536 (1 R)
Default Value 0
Object 6062h: position_demand_value
The current position setpoint value can be read out via this object. The curve generator feeds this into
the position controller.
Index 6062h
Name position_demand_value
Object Code VAR
No. of Elements INT32
Access ro
PDOMapping yes
Units position units
Value Range –
Default Value –
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 73
Object 6063h: position_actual_value_s (increments)
The actual position can be read out via this object. The angle encoder feeds this to the position control-
ler. This object is specified in increments.
Index 6063h
Name position_actual_value_s
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units inkrements
Value Range –
Default Value –
Object 6064h: position_actual_value (user-defined units)
The actual position can be read out via this object. The angle encoder feeds this to the position control-
ler. This object is specified in user-defined increments.
Index 6064h
Name position_actual_value
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units position units
Value Range –
Default Value –
Object 6065h: following_error_window
The object following_error_window (following error window) defines a symmetrical range around the
position setpoint value (position_demand_value). If the actual position value (position_actual_value) is
outside the following error window (following_error_window), a contouring error occurs and bit 13 is
set in the object statusword. The following can cause a following error:
– The drive is blocked
– The positioning speed is too high
– The acceleration values are too large
– The object following_error_window has too small a value
– The position controller is not correctly parametrised
4 Setting parameters
74 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index 6065h
Name following_error_window
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units position units
Value Range 0 … 7FFFFFFFh
Default Value 23D7h
Object 6066h: following_error_time_out
If a following error longer than defined in this object occurs, the related bit 13 following_error is set in
the statusword.
Index 6066h
Name following_error_time_out
Object Code VAR
Data Type UINT16
Access rw
PDOMapping yes
Units ms
Value Range 0 … 27314
Default Value 100
Object 60F4h: following_error_actual_value
The current following error can be read out via this object. This object is specified in user-defined incre-
ments.
Index 60F4h
Name following_error_actual_value
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units position units
Value Range –
Default Value –
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 75
Object 60FAh: control_effort
The output variable of the position controller can be read via this object. This value is internally fed to
the speed regulator as setpoint value.
Index 60FAH
Name control_effort
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units speed units
Value Range –
Default Value –
Object 6067h: position_window
With the object position_window, a symmetrical area is defined around the target position
(target_position). If the actual position value (position_actual_value) lies within this area for a certain
time, the target position (target_position) is considered reached.
Index 6067h
Name position_window
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units position units
Value Range –
Default Value 7AEh
Object 6068h: position_window_time
If the actual position of the drive is located within the positioning window (position_window) for as long
as defined in this object, the related bit 10 target_reached is set in the statusword.
Index 6068h
Name position_window_time
Object Code VAR
Data Type UINT16
4 Setting parameters
76 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Access rw
PDOMapping yes
Units ms
Value Range 0 … 65536
Default Value 400
4.7 Setpoint value limitation
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
2415h RECORD current_limitation rw
Object 2415h: current_limitation
With the object group current_limitation, the maximum peak current for the motor can be limited in the
operating modes profile_position_mode, interpolated_position_mode, homing_mode und velo-
city_mode, which makes a torque-limited speed operation possible. The setpoint value source of the
limit torque is specified via the object limit_current_input_channel. Here, a choice can be made
between specification of a direct setpoint value (fixed value) or specification via an analogue input.
Depending on the source chosen, either the limit torque (source = fixed value) or the scaling factor for
the analogue inputs (source = analogue input) is specified via the object limit_current. In the first case,
the torque-proportional current, in mA, is limited directly. In the second case, the current that should
correspond to a voltage of 10 V is specified, in mA.
Index 2415h
Name current_limitation
Object Code RECORD
No. of Elements 2
Sub-Index 01hDescription limit_current_input_channel
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0 … 4
Default Value 0
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 77
Sub-Index 02hDescription limit_current
Data Type INT32
Access rw
PDOMapping no
Units ma
Value Range –
Default Value 3550
Value Meaning
0 No limitation
1 AIn0
2 Reserved
3 RS232
4 CAN
4.8 Digital inputs and outputs
Overview
All digital inputs and outputs of the motor controller can be read via the CAN bus, and the digital out-
puts DOUT1 to DOUT3 can be set as desired. Moreover, status messages can be assigned to the digital
outputs of the motor controller Description Functions and commissioning, GDCP-CMMS/D-FW-....
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
60FDh VAR digital_inputs UINT32 ro
60FEh ARRAY digital_outputs UINT32 rw
Object 60FDh: digital_inputs
The digital inputs can be read via the object 60FDh:
Index 60FDh
Name digital_inputs
Object Code VAR
Data Type UINT32
4 Setting parameters
78 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Access ro
PDOMapping yes
Units –
Value Range according to the following table
Default Value 0
Bit Value Meaning
0 00000001h Negative limit switch
1 00000002h Positive limit switch
3 00000008h Interlock (controller or output stage enable missing)
16 … 29 00010000h
…
20000000h
DIN0 … DIN13
30 40000000h CAN baud rate 0 off
31 80000000h CAN baud rate 1 off
Object 60FEh: digital_outputs
The digital outputs can be read via the object 60FEh. The three controllable outputs (DOUT1 ... 3) can
be set via the object digital_outputs. It should be noted that a delay of up to 10 ms may occur in trig-
gering the digital outputs.
Index 60FEh
Name digital_outputs
Object Code ARRAY
No. of Elements 1
Data Type UINT32
Sub-Index 01hDescription digital_outputs
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 0
Bit Value Meaning
0 00000001h Brake; read-only
16 00010000h Ready to operate; read-only
17 … 19 00020000h
…
00080000h
DOUT1 … DOUT3
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 79
EXAMPLE
A write access always influences BIT17 to BIT19.
To set DOUT1:
1.) The object 60FEh_01h digital_outputs_data (DOUT1 ... DOUT3) is read.
2.) Then BIT17 is additionally set.
3.) The object 60FEh_01h digital_outputs_data (DOUT1 ... DOUT3) is read again.
Note
The assignment of these 3 writable outputs is permanently changed to “Off ” or “On”
when writing (forcing) the outputs.
If the parameters are saved after forcing, the significance of the outputs is permanently
changed.
4.9 Limit switches
Overview
Limit switches (limit switch) can be used for defining the reference position of the motor controller.
Further information on the possible homing methods can be found in chapter 6.2,
Operating mode homing (homing mode).
Description of the objects
Index Object Name Type Attr.
6510h RECORD drive_data rw
Object 6510h_11h: limit_switch_polarity
The polarity of the limit switches can be programmed via the object 6510h_11h (limit_switch_polarity).
For normally closed limit switches, a “0” must be entered in this object, whereas a “1” must be entered
when normally open contacts are used.
Index 6510h
Name drive_data
Object Code RECORD
No. of Elements 44
4 Setting parameters
80 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Sub-Index 11hDescription limit_switch_polarity
Data Type INT16
Access rw
PDOMapping no
Units –
Value Range 0, 1
Default Value 1
Value Meaning
0 N/C contact
1 N/O contact
Object 6510h_15h: limit_switch_deceleration
The object limit_switch_deceleration establishes the deceleration used in braking when the limit switch
is reached during normal operation (limit switch emergency stop ramp).
Sub-Index 15hDescription limit_switch_deceleration
Data Type INT32
Access rw
PDOMapping no
Units acceleration units
Value Range 0 … 3000000
Default Value 2560000
4.10 Sampling of positions
Overview
The CMMS/CMMD family offers the possibility to save the actual position value on the rising or falling
edge of the digital input DIN9 (X1.11). This position value can then be read out for calculation within a
controller, for example.
The sampled positions can be read via the objects sample_position_rising_edge and sample_posi-
tion_falling_edge.
Which edge is used can be specified with the parameterisation software and application data - flying
measurement.
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 81
Description of the Objects
Objects addressed in this chapter
Index Object Name Type Attr.
204Ah RECORD sample_data ro
204Ah_05h VAR sample_position_rising_edge INT32 ro
204Ah_06h VAR sample_position_falling_edge INT32 ro
Object 204Ah: sample_data
Index 204Ah
Name sample_data
Object Code RECORD
No. of Elements 6
The following objects contain the sampled positions.
Sub-Index 05hDescription sample_position_rising_edge
Data Type INT32
Access ro
PDOMapping yes
Units position units
Value Range –
Default Value –
Sub-Index 06hDescription sample_position_falling_edge
Data Type INT32
Access ro
PDOMapping yes
Units position units
Value Range –
Default Value –
4 Setting parameters
82 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
4.11 Device Information
Overview
A wide variety of information such as motor controller type, firmware used, etc. can be read from the
device via numerous CAN objects.
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
1000h00h device_type UINT32 ro
1008h VAR manufacturer_device_name STR ro
1009h VAR manufacture_hardware_version STR ro
100Ah VAR manufacturer_firmware_version STR ro
1018h RECORD identity_object rw
6510h RECORD drive_data rw
Object 1000h: device_type
Through the object device_type, the device type of the controller can be read.
Index 1000
Description device_type
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range 0x00020192 … 0x00040192
Default Value see table
Value Meaning
40192h CMMS-ST
20192h CMMS-AS
20192h CMMD-AS
Object 1018h: identity_object
Through the identity_object established in the CiA 301, the motor controller can be uniquely identified
in a CANopen-network. For this purpose, the manufacturer code (vendor_id), a unique product code
(product_code), the revision number of the CANopen implementation (revision_number) and the serial
number of the device (serial_number) can be read out.
Index 1018h
Name identity_object
Object Code RECORD
No. of Elements 4
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 83
Sub-Index 01hDescription vendor_id
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range 0x00001D
Default Value 0x00001D
Sub-Index 02hDescription product_code
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range 0x00001116 … 0x00001118
Default Value See table
Value Meaning
1116h CMMS-AS
1117h CMMS-ST
1118h CMMD-AS
Sub-Index 03hDescription revision_number
Data Type UINT32
Access ro
PDOMapping no
Units MMMMSSSSh (M: main version, S: sub version)
Value Range –
Default Value 1
Sub-Index 04hDescription serial_number
Data Type UINT32
Access ro
PDOMapping no
Units NNNNNNNN: Sequence number
Value Range –
Default Value –
4 Setting parameters
84 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 6510h_A9h: firmware_main_version
The main version number of the firmware (product stage) can be read out via the object firm-
ware_main_version. This is the first two digits of the firmware version.
Sub-Index A9hDescription firmware_main_version
Data Type UINT32
Access ro
PDOMapping no
Units MMMMSSSSh (M: main version, S: sub version)
Value Range –
Default Value –
Object 6510h_AAh: firmware_custom_version
The version number of the customer-specific variants of the firmware can be read out via the object
firmware_custom_version. This is the middle section of the firmware version: 1.4.0.1.7. General test
versions have the decimal value 100112 here.
Sub-Index AAhDescription firmware_custom_version
Data Type UINT32
Access ro
PDOMapping no
Units Customer-specific variant NNNNNNNN, 0 = series variant
Value Range –
Default Value –
Object 6510h_ADh: km_release
Through the version number of the km_release, firmware statuses (from firmware version 1.4.0.x.y) of
the same product stage can be differentiated. This is the last two digits of the firmware version.
Sub-Index ADh
Description km_release
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range MMMMSSSSh (M: main version, S: sub version)
Default Value –
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 85
4.12 Error management
Overview
The motor controllers of the CMMS family offer the option to change the error response of individual
events, e.g. the occurrence of a following error. As a result, the motor controller reacts differently when
a certain event occurs: Depending on the setting, braking down can occur with the output stage being
shut off immediately or a warning being shown on the display.
For every event, a minimum reaction is intended by the manufacturer, which cannot be fallen below.
And so “critical” errors, such as 60-0 short circuit output stage, are not reparametrised, since here an
immediate switch-off is necessary to protect the motor controller from possible destruction.
If a lower error response is entered than is permissible for the respective error, the value is limited to
the lowest permissible error response. A list of all error numbers is found in chapter A
“ Diagnostic messages”.
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
2100h RECORD error_management ro
2100_01h VAR error_number UINT8 rw
2100_02h VAR error_reaction_code UINT8 rw
Object 2100h: error_management
Index 2100h
Name error_management
Object Code RECORD
No. of Elements 2
The main error number whose response should be changed must be specified in the object error_num-
ber. This number is the bit number of the internal error bit (range of values 1 ... 64, Appendix A).
Sub-Index 01hDescription error_number
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 1 … 64
Default Value 1
4 Setting parameters
86 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
The response of the error can be changed in the object error_reaction_code. If the response falls below
the manufacturer's minimum response, it is limited to this minimum. The response actually set can be
determined by reading back.
Sub-Index 02hDescription error_reaction_code
Data Type UINT8
Access rw
PDOMapping no
Units –
Value Range 0, 3, 5, 8
Default Value dependent on error_number
Value Meaning
0 No action
3 Warning on the 7-segments display and in the statusword
5 Controller enable off
8 Output stage off
4.13 Compatibility settings
Overview
In order to remain compatible with earlier CANopen implementations (e.g. also in other device families)
and still be able to execute changes and corrections compared to CiA 402 and CiA 301, the object
compatibility_control was introduced. In the default parameter set, this object delivers 0, that is, com-
patibility with earlier versions. For new applications, we recommend setting the defined bits to permit
as much agreement as possible with the named standards.
Description of the objects
Objects addressed in this chapter
Index Object Name Type Attr.
6510_F0h VAR compatibility_control UINT16 rw
Object 6510h_F0h: compatibility_control
Sub-Index F0h
Description compatibility_control
Data Type UINT16
Access rw
PDOMapping no
Units –
Value Range 0 … 1FFh ( Table)
Default Value 0
4 Setting parameters
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 87
Bit Value Name Description
0 0001h actual_position_at_homing Actual position is changed at homing (-32767).
1 0002h reserved The bit is reserved. It must not be set.
2 0004h homing_method_scheme Default, fixed at 1. If this bit is set, the homing
methods 32 … 35 are numbered in accordance with
CiA 402.
3 0008h emergency_over_cob_par EMCY ID can either be generated automatically or
parameterised via COB_ID used.
Default: 0 = EMCY ID = 80h + node ID
4 0010h response_after_save Default, fixed = 1. If this bit is set, the answer to
save_all_parameters is not sent until saving is
completed. This can take several seconds, which
might result in a time-out in the controller. If the bit is
deleted, the answer is issued immediately. However,
it should be considered that the saving procedure has
not been completed yet.
5 0020h reserved The bit is reserved. It must not be set.
6 0040h reserved The bit is reserved. It must not be set.
7 0080h device_control Default, fixed = 1. If this bit is set, bit 4 of the
statusword (voltage_enabled) is output in accordance
with CiA 402 v2.0. In addition, the status
FAULT_REACTION_ACTIVE is distinguishable from the
FAULT status ( Chapter 5).
8 0100h reserved The bit is reserved. It must not be set.
5 Device Control
88 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
5 Device Control
5.1 Status diagram (State Machine)
5.1.1 Overview
This chapter describes how the motor controller can be regulated under CANopen, that is, how the
output stage is switched on or an error is acknowledged, for example.
Under CANopen, the entire control of the motor controller is achieved through two objects: The host
can control the motor controller through the object controlword (6040h), while the status of the motor
controller can be read back in the object statusword (6041h). The following terms are used to explain
motor controller regulation:
Term Description
Status:
(State)
The motor controller is in different statuses, depending on whether the
output stage is switched on or an error has occurred, for example. The
statuses defined under CANopen are presented in the chapter.
Example: SWITCH_ON_DISABLED
Status transition
(State Transition)
Just as with the statuses, it is also defined under CANopen how to go
from one status to another (e.g. to acknowledge an error). Status trans-
itions are triggered by the host by setting bits in the controlword or in-
ternally through the motor controller, when it recognises an error, for
example.
Command
(Command)
To trigger status transitions, certain combinations of bits must be set in
the controlword. Such a combination is designated a command.
Example: Enable Operation
Status diagram
(State Machine)
The statuses and status transitions together form the status diagram,
that is, the overview of all conditions and the transitions possible from
there.
Tab. 5.1 Terms for motor controller regulation
5 Device Control
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 89
5.1.2 Status diagram of the motor controller (state machine)
SWITCH_ON_DISABLED
READY_TO_SWITCH_ON
FAULT_REACTION_ACTIVE
FAULT
SWITCHED_ON
OPERATION_ENABLED QUICK_STOP_ACTIVE
NOT_READY_TO_SWITCH_ON
1
00
2 7
aJ
3 689
aC
aD
aE
aB
aA
Power enabled
(output stage on)
Fault
(error)
Power disabled
(output stage off )
4 5
Fig. 5.1 Status diagram of the motor controller
The status diagram can be roughly divided into three areas: “Power Disabled” means that the output
stage is switched off and “Power Enabled” that the output stage is switched on. The statuses needed
for error handling are summarised in the “Fault” area.
The most important statuses of the motor controller are shown in the diagram. After it is switched on,
the motor controller initialises itself and then reaches the status SWITCH_ON_DISABLED. In this status,
5 Device Control
90 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
the CAN communication is fully operational and the motor controller can be parametrised (e.g. the
“speed adjustment” operating mode can be set). The output stage is switched off and the shaft is freely
rotatable, providing there is no holding brake. Through the status transitions2,3,4 – which corres-
ponds in principle to CAN controller enable – the status OPERATION_ENABLED is reached. In this
status, the output stage is switched on and the motor is controlled in accordance with the set operating
mode. Always make sure beforehand that the drive is correctly parametrised and a corresponding set-
point value is equal to 0.
The status transition9 corresponds to removal of enable, i.e. a motor that is still running would run
out uncontrolled.
If an error occurs (regardless from which status), the system ultimately switches into the FAULT status.
Depending on the parameterisation of the error response, certain actions, such as emergency braking,
can still be performed (FAULT_REACTION_ACTIVE).
In order to perform the named status transitions, certain bit combinations must be set in the control-
word (see below). The lower 4 bits of the controlword are jointly evaluated in order to trigger a status
transition.
In the following, only the most important status transitions2,3,4,9 and aE are explained at first.
A table of all possible statuses and status transitions are found at the end of this chapter.
The following table contains the desired status transition in the 1st column and in the 2nd column the
requirements necessary for it (usually a command through the host, here depicted with frame). How
this command is generated, i.e. which bits in the controlword must be set, is visible in the 3rd column
(x = not relevant).
No. Performed when Bit combination (controlword) Action
Bit 3 2 1 0
2
Output stage and controller
enable prev. + command
Shutdown
Shutdown = x 1 1 0 None
3 Command Switch On Switch On = x 1 1 1Switch on the output
stage.
4 Command Enable Operation Enable Operation = 1 1 1 1
Control in accordance
with the set operating
mode.
9 Command Disable Voltage Disable Voltage = x x 0 xOutput stage is blocked.
Motor rotates freely.
aEError eliminated + Fault Reset
commandFault Reset =
Bit 7 =
0 1Acknowledge the error.
Tab. 5.2 Most important status transitions of the motor controller
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EXAMPLE
After the motor controller has been parametrised, the motor controller should be “enabled”, that is,
the output stage switched on:
1. The motor controller is in the status SWITCH_ON_DISABLED
2. The motor controller should be in the status OPERATION_ENABLED
3. According to the status diagram (Fig. 5.1) the transitions2,3 and4must be executed.
4. From Tab. 5.2 follows:
Transition2: Controlword = 0006h
New status: READY_TO_SWITCH_ON1)
Transition3: Controlword = 0007h
New status: SWITCHED_ON1)
Transition4: Controlword = 000Fh
New status: OPERATION_ENABLED1)
Instructions:
1. The example assumes that no further bits are set in the controlword (for the transitions, only the
bits 0 … 3 are important).
2. The transitions3 and4 can be combined by immediately setting the controlword to 000Fh. For
the status transition2, the set bit 3 is not relevant.
1) The Host must wait until the status in the statusword can be read back. This is explained in detail below.
5 Device Control
92 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Status diagram: Statuses
The following table lists all statuses and their meaning:
Name Meaning
NOT_READY_TO_SWITCH_ON The motor controller performs an internal initialisation process.
The CAN communication does not work yet.
SWITCH_ON_DISABLED The motor controller has completed its self-test. CAN
communication is possible.
READY_TO_SWITCH_ON The motor controller waits until the digital inputs “output stage”
and “controller enable” are at 24 V. (Controller enable logic “Digital
input and CAN”).
SWITCHED_ON 1) The output stage is switched on.
OPERATION_ENABLED1) Voltage to the motor is on, and the motor is regulated
corresponding to the operating mode.
QUICKSTOP_ACTIVE1) The Quick Stop Function is carried out
( quick_stop_option_code). Voltage to the motor is on, and the
motor is regulated according to the Quick Stop Function.
FAULT_REACTION_ACTIVE1) An error has occurred. With critical errors, the system immediately
switches into the Fault status. Otherwise, the action specified in
the fault_reaction_option_code is carried out. Voltage to the
motor is on, and the motor is regulated according to the Fault
Reaction Function.
FAULT An error has occurred. No voltage is applied to the motor.
1) The output stage is switched on.
If the output stage cannot be activated in the status READY_TO_SWITCH_ON and an at-
tempt is made to bring the drive to OPERATION_ENABLED, then a status transition7 to
the status SWITCH_ON_DISABLED takes place instead of the status transition3.
This is the case, for example, if one of the digital inputs DIN4 (output stage enable,
X1.21/X1.1.21/X1.2.21) or Rel (driver supply relay control, X3.2/X3.1.2/X3.2.2) are not
supplied with 24 V (“STO”).
5 Device Control
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Status diagram: Status transitions
The following table lists all statuses and their meaning:
No. Performed when Bit combination (controlword) Action
Bit 3 2 1 0
00 Switched on or reset occurs Internal transition Perform self-test.
1 Self-test successful Internal transitionActivation of CAN
communication.
2
Output stage and controller
enable prev. + command
Shutdown
Shutdown x 1 1 0 –
3 Command Switch On Switch On x 1 1 1Switch on the output
stage.
4 Command Enable Operation Enable Operation 1 1 1 1
Control in accordance
with the set operating
mode.
5 Command Disable Operation Disable Operation 0 1 1 1Output stage is blocked.
Motor rotates freely.
6 Command Shutdown Shutdown x 1 1 0Output stage is blocked.
Motor rotates freely.
7 Command Quick Stop Quick Stop x 0 1 x –
8 Command Shutdown Shutdown x 1 1 0Output stage is blocked.
Motor rotates freely.
9 Command Disable Voltage Disable Voltage x x 0 xOutput stage is blocked.
Motor rotates freely.
aJ Command Disable Voltage Disable Voltage x x 0 xOutput stage is blocked.
Motor rotates freely.
aA Command Quick Stop Quick Stop x 0 1 x
Braking is initiated in
accordance with
quick_stop_option_code.
aBBraking ended without
command Disable VoltageDisable Voltage x x 0 x
Output stage is blocked.
Motor rotates freely.
aC Error occurred Internal transition
For uncritical errors,
reaction in accordance
with fault_reaction_op-
tion_code. With critical
errors, transition aD
follows.
aD Error handling is ended Internal transitionOutput stage is blocked.
Motor rotates freely.
aEError eliminated + Fault Reset
commandFault Reset
Bit 7 =
0 1
Acknowledge error (with
rising edge).
5 Device Control
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Caution
Output stage blocked …
…means that the power semiconductors (transistors) can no longer be actuated. If this
status is taken with a turning motor, it runs out unbraked. If a mechanical motor brake is
present, it is automatically actuated.
The signal does not guarantee that the motor is really voltage-free.
Caution
Output stage enabled …
…means that the motor is actuated and controlled corresponding to the selected oper-
ating mode. An existing mechanical motor brake will be released automatically. In case
of a defect or incorrect parametrisation (motor current, number of poles, resolver offset
angle, etc.), this can result in uncontrolled behaviour of the drive.
5.1.3 Controlword (Controlword)
Object 6040h: controlword
With the controlword, the current status of the motor controller can be revised or a specific action (e.g.
start of homing) triggered directly. The function of bits 4, 5, 6 and 8 depends on the current operating
mode (modes_of_operation) of the motor controller, which is explained after this chapter.
Index 6040h
Name controlword
Object Code VAR
Data Type UINT16
Access rw
PDOMapping yes
Units –
Value Range –
Default Value 0
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Bit Value Function
0 0001h
Control of the status transitions.
These bits are evaluated together.
1 0002h
2 0004h
3 0008h
4 0010h new_set_point/start_homing_operation/enable_ip_mode
5 0020h change_set_immediately
6 0040h absolute/relative
7 0080h reset_fault
8 0100h halt
9 0200h reserved – set to 0
10 0400h reserved – set to 0
11 0800h reserved – set to 0
12 1000h reserved – set to 0
13 2000h reserved – set to 0
14 4000h reserved – set to 0
15 8000h reserved – set to 0
Tab. 5.3 Bit assignment of the controlword
As already comprehensively described, status transitions can be carried out with the bits 0 … 3. The
commands necessary for this are presented again here in an overview. The Fault Reset command is
generated by bit 7 through a positive edge change (from 0 to 1).
Command: Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
0080h 0008h 0004h 0002h 0001h
Shutdown x x 1 1 0
Switch On x x 1 1 1
Disable Voltage x x x 0 x
Quick Stop x x 0 1 x
Disable Operation x 0 1 1 1
Enable Operation x 1 1 1 1
Fault Reset 0 1 x x x x
Tab. 5.4 Overview of all commands (x = not relevant)
As some status modifications require a certain amount of time, all status modifications
triggered via the controlword must be read back via the statusword. Only when the re-
quested status can also be read in the statusword, may a further command be written via
the controlword.
5 Device Control
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The remaining bits of the controlwords are explained in the following. Some bits have different signific-
ance, depending on the operating mode (modes_of_operation), i.e. whether the motor controller is
speed- or torque-controlled, for example:
controlword
Bit Function Description
4 Dependent on modes_of_operation
new_set_point In the Profile Position Mode:
A rising edge signals to the motor controller that a
new positioning task should be undertaken
( Chapter 6.3).
start_homing_operation In the Homing Mode:
A rising edge causes the parametrised reference
travel to start. A falling edge interrupts a running
reference travel prematurely.
enable_ip_mode In the Interpolated Position Mode:
This bit must be set when the interpolation data
records are supposed to be evaluated. It is
acknowledged through the bit ip_mode_active in
the statusword ( Chapter 6.4).
5 change_set_immediately Only in the Profile Position Mode:
If this bit is not set, any positioning tasks currently
running will be processed before a new one is
started. If the bit is set, an ongoing positioning
task will be interrupted immediately and replaced
by the new positioning task ( Chapter 6.3).
6 relative Only in the Profile Position Mode:
If the bit is set, the motor controller obtains the
target position (target_position) of the current
positioning task relative to the setpoint position
(position_demand_value) of the position
controller.
7 reset_fault In the transition from 0 to 1, the motor controller
tries to acknowledge the errors. This is only
successful if the cause of the error has been
resolved.
5 Device Control
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controlword
Bit DescriptionFunction
8 halt In the Profile Position Mode:
If the bit is set, the ongoing positioning is
interrupted. Braking is with the
profile_deceleration. After the process is ended,
the bit target_reached is set in the statusword.
Deletion of the bit has no effect.
In the Profile Velocity Mode:
If the bit is set, the speed is reduced to 0. Braking
is with the profile_deceleration. Deletion of the bit
causes the motor controller to accelerate again.
In the Profile Torque Mode:
If the bit is set, the torque is reduced to 0. This
occurs with the torque_slope. Deletion of the bit
causes the motor controller to accelerate again.
In the Homing Mode:
If the bit is set, the ongoing reference travel is
interrupted. Deletion of the bit has no effect.
Tab. 5.5 controlword bit 4 … 8
5.1.4 Read-out of the motor controller status
Just as various status transitions can be triggered via the combination of several bits of the control-
word, the status of the motor controller can be read out via the combination of various bits of the
statusword.
5 Device Control
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The following table lists the possible statuses of the status diagram as well as the related bit combina-
tion, with which they are displayed in the statusword.
Status Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0 Mask Value
0040h 0020h 0008h 0004h 0002h 0001h
NOT_READY_TO_SWITCH_ON 0 x 0 0 0 0 004Fh 0000h
SWITCH_ON_DISABLED 1 x 0 0 0 0 004Fh 0040h
READY_TO_SWITCH_ON 0 1 0 0 0 1 006Fh 0021h
SWITCHED_ON 0 1 0 0 1 1 006Fh 0023h
OPERATION_ENABLE 0 1 0 1 1 1 006Fh 0027h
QUICK_STOP_ACTIVE 0 0 0 1 1 1 006Fh 0007h
FAULT_REACTION_ACTIVE 0 x 1 1 1 1 004Fh 000Fh
FAULT (in accordance with
CiA 402)1)0 x 1 0 0 0 004Fh 0008h
Tab. 5.6 Device status (x = not relevant)
EXAMPLE
The above example shows which bits in the controlword need to be set in order to enable the motor
controller. Now the newly written status should be read out of the statusword:
Transition from SWITCH_ON_DISABLED to OPERATION_ENABLED:
1. Write status transition2 into the controlword.
Transition 2: Controlword = 0006h
2. Wait until the status READY_TO_SWITCH_ON is displayed in the statusword.
Wait until (statusword & 006Fh) = 0021h1)
3. Status transition3 and4 can be written combined into the controlword.
Transition 3+4: Controlword = 000Fh
4. Wait until the status OPERATION_ENABLE is displayed in the statusword.
Wait until (statusword & 006Fh) = 0027h1)
Note:
The example assumes that no further bits are set in the controlword (for the transitions, only the bits
0 … 3 are important).
1) To identify the statuses, bits that are not set must also be evaluated (see table). For that reason, the statusword must be
masked correspondingly.
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5.1.5 Status words (statuswords)
Object 6041h: statusword
Index 6041h
Name statusword
Object Code VAR
Data Type UINT16
Access ro
PDOMapping yes
Units –
Value Range –
Default Value –
Bit Value Function
0 0001h
Status of the motor controller ( Tab. 5.6).
These bits must be evaluated together.
1 0002h
2 0004h
3 0008h
4 0010h voltage_enabled
5 0020hStatus of the motor controller ( Tab. 5.6).
6 0040h
7 0080h warning
8 0100h drive_is_moving
9 0200h remote
10 0400h target_reached
11 0800h internal_limit_active
12 1000h set_point_acknowledge/speed_0/homing_attained/ip_mode_active
13 2000h following_error/homing_error
14 4000h reserved
15 8000h Drive referenced
Tab. 5.7 Bit allocation in the status word
All bits of the statusword are unbuffered. They represent the current device status.
5 Device Control
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Besides the motor controller status, various events are displayed in the statusword, i.e. a specific
event, such as following error, is assigned to each bit. The individual bits have the following significance
thereby:
statusword
Bit Function Description
4 voltage_enabled This bit is set when the output stage
transistors are switched on.
Tab. 5.8 statusword bit 4
Warning
Dangerous voltage!
A deactivated output stage enable does not guarantee that the motor is voltage-free.
• Observe the safety regulations for the motor controller in the specific description
“Mounting and installation”, GDCP-CMM...-...-HW-... Tab. 2.
statusword
Bit Function Description
5 quick_stop If the bit is deleted, the drive carries out a Quick Stop
in accordance with quick_stop_option_code.
7 warning This bit shows that a warning is active.
8 drive_is_moving This bit is set independently of modes_of_operation
when the current actual speed
(velocity_actual_value) of the drive is outside the
related tolerance window (velocity_threshold).
9 remote This bit shows that the output stage of the motor
controller can be enabled via the CAN network. It is
set when the controller enable logic is set via the
object enable_logic for CAN.
5 Device Control
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statusword
Bit DescriptionFunction
10 Dependent on modes_of_operation.
target_reached In the Profile Position Mode:
The bit is set when the current target position is
reached and the current position
(position_actual_value) is located in the parametrised
position window (position_window).
It is also set when the drive comes to a standstill with
Stop bit set.
It is deleted as soon as a new target is specified.
In the Profile Velocity Mode
The bit is set when the speed (velocity_actual_value)
of the drive is in the tolerance window
(velocity_window, velocity_window_time).
11 internal_limit_active This bit shows that the I2t limitation is active.
12 Dependent on modes_of_operation.
set_point_acknowledge In the Profile Position Mode
This bit is set when the motor controller has
recognised the set bit new_set_point in the
controlword. It is deleted again after the bit
new_set_point in the controlword has been set to 0
( Chapter 6.3).
speed_0 In the Profile Velocity Mode
This bit is set when the current actual speed
(velocity_actual_value) of the drive is within the
related tolerance window (velocity_threshold).
homing_attained In the Homing Mode:
This bit is set when the reference travel has ended
without error.
ip_mode_active In the Interpolated Position Mode:
This bit shows that interpolation is active and the
interpolation data records are being evaluated. It is
set when requested by the bit enable_ip_mode in the
controlword ( Chapter 6.4).
5 Device Control
102 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
statusword
Bit DescriptionFunction
13 Dependent on modes_of_operation.
following_error In the Profile Position Mode:
This bit is set when the current actual position
(position_actual_value) differs from the setpoint
position (position_demand_value) so much that the
difference lies outside the parametrised tolerance
window (following_error_window,
following_error_time_out).
homing_error In the Homing Mode:
This bit is set when the homing process has been
interrupted (Halt bit), both limit switches respond
simultaneously or the limit switch search run that has
already been performed is greater than the specified
positioning space (min_position_limit,
max_position_limit).
14 manufacturer_statusbit This bit is not supported by CMMS; fest = 0
15 Drive referenced The bit is set when the controller is referenced.
This is the case if either homing has been successfully
performed or no homing is needed due to the
connected encoder system (e.g. with an absolute
encoder).
Tab. 5.9 statusword bit 5 … 15
Object 1002h_00h: manufacturer_status_register
Through the object manufacturer_status_register, the current status of the controller can be read.
Sub-Index 00hDescription manufacturer_status_register
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range 0 … FFFFFFFFh
Default Value –
5 Device Control
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Bit Name
0 1 = Homing active
1 1 = Reference switch reached
2 1 = Negative limit switch reached DIN7
3 1 = Positive limit switch reached DIN8
4 1 = Message positioning expired (x_set = pos_x_set)
5 1 = Target reached message (x_act = x_set +/-n_mes_hyst)
6 1 = Remaining path positioning reached
7 1 = Reverse mode
8 1 = Speed report n_act = (n_mes +/-n_mes_hyst)
9 1 = Speed report n_act = (n_set +/-n_mes_hyst)
10 1 = Positioning started
11 1 = I²t monitoring: Limitation to nominal current; I²t motor/servo
12 1 = SinCos encoder activated
13 1 = Speed report n_act = (0 +/-n_mes_hyst)
14 1 = Output stage is switched on
15 1 = Ready status
16 1 =Warning (no common error and no switch-off )
17 1 = Common error
18 1 = Negative direction blocked
19 1 = Positive direction blocked
20 1 = Homing has been carried out
21 1 = Automatic encoder comparison active
22 1 = MMC initialised
23 1 = Output stage enabled
24 1 = Controller and output stage INTERNAL enabled
25 1 = Speed setpoint value INTERNAL enabled
26 0 = Normal / 1 = Emergency stop without position sensor active (option)
27 0 = Normal / 1 = MOTID mode
28 1 =Write permission available
29 1 = Technology module equipped
30 1 = MMC plugged
31 1 = Safe halt equipped
6 Operating modes
104 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6 Operating modes
6.1 Setting the operating mode
6.1.1 Overview
The motor controller can be placed into a number of operating modes.
– Torque-controlled mode (profile torque mode)
– Speed-controlled mode (profile velocity mode, velocity mode)
– Homing (homing mode)
– Positioning mode (profile position mode)
– Synchronous position specification (interpolated position mode)
6.1.2 Description of the Objects
Objects treated in this chapter
Index Object Name Type Attr.
6060h VAR modes_of_operation INT8 wo
6061h VAR modes_of_operation_display INT8 ro
Object 6060h: modes_of_operation
The object modes_of_operation sets the operating mode of the motor controller.
Index 6060h
Name modes_of_operation
Object Code VAR
Data Type INT8
Access rw
PDOMapping yes
Units –
Value Range 1, 2, 3, 4, 6, 7
Default Value –
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 105
Value Meaning
1 Profile Position Mode (position controller with positioning mode)
2 Velocity Mode (speed regulator without setpoint ramps)
3 Profile Velocity Mode (speed regulator with setpoint ramps)
4 Profile Torque Mode (torque controller with setpoint ramp)
6 Homing Mode (homing)
7 Interpolated Position Mode
Since a change in operating mode can take some time, one must wait until the newly
selected mode appears in the object modes_of_operation_display.
Object 6061h: modes_of_operation_display
In the object modes_of_operation_display, the current operating mode of the motor controller can be
read. If an operating mode is set via the object 6060h, besides the actual operating mode, the setpoint
value activations (setpoint value selector) needed for operation of the motor controller under CANopen
must also be made.
In addition, the setpoint value ramp is always switched on. Only if these activations are set in the stated
way will one of the CANopen operating modes be returned. If these settings are revised, with the para-
metrisation software, for example, a respective “user” operating mode is returned to show that the
selectors have been changed.
Index 6061h
Name modes_of_operation_display
Object Code VAR
Data Type INT8
Access ro
PDOMapping yes
Units –
Value Range -1, -11, -12, -13, -14, -15, 1, 2, 3, 4, 6, 7
Default Value 3
6 Operating modes
106 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Value Meaning
-1 Invalid operating mode or change in operating mode
-11 User Position Mode
-12 Internal speed adjustment without setpoint ramp (closed-loop operation)
-13 User Velocity Mode
-14 User Torque Mode
-15 Internal position control (regulated and controlled)
1 Profile Position Mode (position controller with positioning mode)
2 Velocity Mode (speed regulator without setpoint ramps)
3 Profile Velocity Mode (speed regulator with setpoint ramps)
4 Profile Torque Mode (torque controller with setpoint ramp)
6 Homing Mode (homing)
7 Interpolated Position Mode
The operating mode can only be set via the object modes_of_operation. Since a change in
operating mode can take some time, one must wait until the newly selected mode ap-
pears in the object modes_of_operation_display. During this time, “Invalid operating
mode” (-1) may be displayed briefly.
6.2 Operating mode homing (homing mode)
6.2.1 Overview
This chapter describes how the motor controller searches for the initial position (also called point of
reference, reference point or zero point). The limit switches at the end of the positioning range, a stop
or the actual position can be used to determine this position. To achieve a level of accuracy that is as
high as possible, the zero pulse of the angle encoder used (Endat, incremental encoder, etc.) can be
included for some methods.
Homing
controlword
homing_speeds
homing_acceleration
homing_offset
statusword
position_demand_value
homing_method
Fig. 6.1 Homing
The user can determine the speed, acceleration and type of homing. With the object home_offset, the
zero position of the drive can be displaced to any position desired.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 107
There are two homing speeds. The higher search speed (speed_during_search_for_switch) is used to
find the limit switch or stop. In order to be able to exactly determine the position of the switch edge,
the switch edge is approached at crawl speed (speed_during_search_for_zero).
The drive to the zero position under CANopen is normally not a component of homing.
6.2.2 Description of the objects
Objects treated in this chapter
Index Object Name Type Attr.
607Ch VAR home_offset INT32 rw
6098h VAR homing_method INT8 rw
6099h ARRAY homing_speeds UINT32 rw
609Ah VAR homing_acceleration UINT32 rw
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword UINT16 5.1.3 Control word (controlword)
6041h VAR statusword UINT16 5.1.5 Status words (statuswords)
Object 607Ch: home_offset
The object home_offset establishes the shift of the zero position compared to the determined refer-
ence position.
home_offset
HomePosition
ZeroPosition
Fig. 6.2 Home Offset
6 Operating modes
108 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index 607Ch
Name home_offset
Object Code VAR
Data Type INT32
Access rw
PDOMapping yes
Units position units
Value Range –
Default Value 0
Object 6098h: homing_method
A series of different methods is provided for homing. Through the object homing_method, the variant
needed for the application can be selected. There are three homing signals: The negative and positive
limit switches and the (periodic) zero pulse of the angle encoder. In addition, the motor controller can
perform a homing movement to the negative or positive stop, or to the current position, completely
without any additional signal. If a method for homing is determined through the object homing_meth-
od, the following settings are made:
– The reference source (negative/positive limit switch, negative/positive stop, current position)
– The direction and process of homing
– The type of evaluation of the zero pulse by the angle encoder used
Index 6098h
Name homing_method
Object Code VAR
Data Type INT8
Access rw
PDOMapping yes
Units –
Value Range -18, -17, -2, -1, 1, 2, 7, 17, 18, 33, 34, 35
Default Value 17
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 109
Value Direction Objective Point of reference for zero
-18 positive Stop Stop
-17 negative Stop Stop
-2 positive Stop Zero pulse
-1 negative Stop Zero pulse
1 negative Limit switch Zero pulse
2 positive Limit switch Zero pulse
17 negative Limit switch Limit switches
18 positive Limit switch Limit switches
33 negative Zero pulse Zero pulse
34 positive Zero pulse Zero pulse
35 – No travel Current actual position
The homing_method can only be set when homing is not active. Otherwise, an error message
( Chapter 3.5) is returned.
The process of the individual methods is described in detail in chapter 6.2.3.
Object 6099h: homing_speeds
This object determines the speeds used during homing.
Index 6099h
Name homing_speeds
Object Code ARRAY
No. of Elements 2
Data Type UINT32
Sub-Index 01hDescription speed_during_search_for_switch
Access rw
PDOMapping yes
Units speed units
Value Range –
Default Value 100
Sub-Index 02hDescription speed_during_search_for_zero
Access rw
PDOMapping yes
Units speed units
Value Range –
Default Value 10
6 Operating modes
110 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 609Ah: homing_acceleration
The object homing_acceleration determines the acceleration that is used during homing for all acceler-
ation and braking processes.
Index 609Ah
Name homing_acceleration
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units acceleration units
Value Range –
Default Value 80000
6.2.3 Homing processes
The various homing methods are depicted in the following illustrations.
Method –18: Homing to the positive stop
With this method, the drive moves in the positive direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
the parametrised maximum current. The zero position refers directly to the stop.
Fig. 6.3 Homing to the positive stop
Method –17: Homing to the negative stop
With this method, the drive moves in the negative direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
the parametrised maximum current. The zero position refers directly to the stop.
Fig. 6.4 Homing to the negative stop
Method –2: Positive stop with zero pulse evaluation
With this method, the drive moves in the positive direction until it reaches the stop. The stop is detec-
ted via a parameterisable current threshold, which can be set with the parametrisation tool FCT in % of
the nominal current. The stop must be mechanically dimensioned so that it does not suffer damage in
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 111
the parametrised maximum current. The zero position refers to the first zero pulse of the angle encoder
in the negative direction from the stop.
Index pulse
Fig. 6.5 Homing to the positive stop with evaluation of the zero pulse
Method –1: Negative stop with zero pulse evaluation
With this method, the drive moves in the negative direction until it reaches the stop. The I2t integral of
the motor rises hereby to a maximum 90 %. The stop must be mechanically dimensioned so that it does
not suffer damage in the parametrised maximum current. The zero position refers to the first zero pulse
of the angle encoder in the positive direction from the stop.
Index pulse
Fig. 6.6 Homing to the negative stop with evaluation of the zero pulse
Method 1: Negative limit switch with zero pulse evaluation
With this method, the drive initially moves relatively quickly in the negative direction until it reaches the
negative limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the first zero
pulse of the angle encoder in the positive direction from the limit switch.
Index pulse
Negative limit switch
Fig. 6.7 Homing to the negative limit switch with evaluation of the zero pulse
Method 2: Positive limit switch with zero pulse evaluation
With this method, the drive initially moves relatively quickly in the positive direction until it reaches the
positive limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the first zero
pulse of the angle encoder in the negative direction from the limit switch.
6 Operating modes
112 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index pulse
Positive limit switch
Fig. 6.8 Homing to the positive limit switch with evaluation of the zero pulse
Method 17: Homing to the negative limit switch
With this method, the drive initially moves relatively quickly in the negative direction until it reaches the
negative limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the falling
edge of the negative limit switch.
Negative limit switch
Fig. 6.9 Homing to the negative limit switch
Method 18: Homing to the positive limit switch
With this method, the drive initially moves relatively quickly in the positive direction until it reaches the
positive limit switch. This is represented in the graph by the rising edge. The drive then moves back
slowly and searches for the precise position of the limit switch. The zero position refers to the falling
edge of the positive limit switch.
Positive limit switch
Fig. 6.10 Homing to the positive limit switch
Method 33: Homing in a negative direction to the zero pulse
When using method 33, the direction of homing is negative. The zero position refers to the first zero
pulse from the angle encoder in the direction of search.
Index pulse
Fig. 6.11 Homing in a negative direction to the zero pulse
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 113
Method 34: Homing in a positive direction to the zero pulse
When using method 34, the direction of homing is positive. The zero position refers to the first zero
pulse from the angle encoder in the direction of search.
Index pulse
Fig. 6.12 Homing in a positive direction to the zero pulse
Method 35: Homing to the current position
With method 35, the zero position refers to the current position.
Fig. 6.13 Homing to current position
6.2.4 Control of homing
Homing is controlled and monitored through the controlword/statusword. The start is made by setting
bit 4 in the controlword. Successful completion of the travel is shown by a set bit 12 in the object
statusword. A set bit 13 in the object statusword shows that an error has occurred during homing. The
cause of the error can be determined via the objects error_register and pre_defined_error_field.
Bit 4 Meaning
1 Homing is not active
0 1 Start homing
1 Homing is active
1 0 Homing interrupted
Tab. 6.1 Description of the bits in the controlword
Bit 13 Bit 12 Meaning
0 0 Homing is not yet complete
0 1 Homing performed successfully
1 0 Homing not performed successfully
1 1 prohibited status
Tab. 6.2 Description of the bits in the status word
6 Operating modes
114 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6.3 Positioning mode (Profile Position Mode)
6.3.1 Overview
The structure of this operating mode is evident in Fig. 6.14:
The target position (target_position) is transferred to the controller-internal positioning control. This
generates a setpoint position value (position_demand_value) for the position controller, which is de-
scribed in the position controller chapter ( Chapter 5, Position Control Function). These two function
blocks can be set independently of each other.
position_factor
(6093h)
polarity
(607Eh)
control_effort
(60FAh)Trajectory
GeneratorPosition_
demand_value
position*MultiplierLimit
Function[position units]
target_position
(607Ah)
target_position
(607Ah)
Trajectory
Generator
Parameters
Position Control
Law Parameters
Position
Control
Function
position_range_limit
(607Bh)
software_position_limit
(607Dh)
home_offset
(607Ch)
Fig. 6.14 Position controller and curve generator
All input variables of the curve generator are converted with the variables of the factor group
( Chap. 4.2) into the internal units of the controller. The internal variables are marked here with an
asterisk and are normally not needed by the user.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 115
6.3.2 Description of the objects
Objects treated in this chapter
Index Object Name Type Attr.
607Ah VAR target_position INT32 rw
6081h VAR profile_velocity UINT32 rw
6082h VAR end_velocity UINT32 rw
6083h VAR profile_acceleration UINT32 rw
6084h VAR profile_deceleration UINT32 rw
6085h VAR quick_stop_deceleration UINT32 rw
6086h VAR motion_profile_type INT16 rw
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword INT16 5 Device control
6041h VAR statusword UINT16 5 Device control
605Ah VAR quick_stop_option_code INT16 5 Device control
607Eh VAR polarity UINT8 4.2 Conversion factors
6093h ARRAY position_factor UINT32 4.2 Conversion factors
6094h ARRAY velocity_encoder_factor UINT32 4.2 Conversion factors
6097h ARRAY acceleration_factor UINT32 4.2 Conversion factors
Object 607Ah: target_position
The object target_position (target position) determines which position the motor controller should
travel to. The current setting for speed, acceleration, brake delay and type of travel profile
(motion_profile_type) etc. is used here. The target position (target_position) is interpreted either as an
absolute or relative specification (controlword, bit 6).
Index 607Ah
Name target_position
Object Code VAR
Data Type INT32
Access rw
PDOMapping yes
Units position units
Value Range –
Default Value 0
Object 6081h: profile_velocity
The object profile_velocity specifies the speed that is normally reached at the end of the acceleration
ramp during positioning. The object profile_velocity is specified in speed units.
6 Operating modes
116 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index 6081h
Name profile_velocity
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units speed units
Value Range –
Default Value 0
Object 6082h: end_velocity
The object end_velocity (end speed) defines the speed with which the drive travels through the target
position (target_position). This object must be set to 0 so that the motor controller stops when it
reaches the target position (target_position). For continuous positioning, a speed different from 0 can
be specified. The object end_velocity is specified in the same units as the object profile_velocity.
Index 6082h
Name end_velocity
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units speed units
Value Range –
Default Value 0
Object 6083h: profile_acceleration
The object profile_acceleration specifies the acceleration that is used to accelerate to the speed set-
point value. It is specified in user-defined acceleration units (acceleration units) ( Chapter 4.2,
Conversion factors (Factor Group)).
Index 6083h
Name profile_acceleration
Object Code VAR
Data Type UINT32
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 117
Access rw
PDOMapping yes
Units acceleration units
Value Range –
Default Value –
Object 6084h: profile_deceleration
The object profile_deceleration specifies the speed with which the motor decelerates to the end speed.
It is specified in user-defined acceleration units (acceleration units) ( Chapter 4.2,
Conversion factors (Factor Group)).
Index 6084h
Name profile_deceleration
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units acceleration units
Value Range –
Default Value –
Object 6085h: quick_stop_deceleration
The object quick_stop_deceleration specifies with which brake delay the motor stops when a quick
stop is carried out ( Chapter 5). The object quick_stop_deceleration is specified in the same unit as
the object profile_deceleration.
Index 6085h
Name quick_stop_deceleration
Object Code VAR
Data Type UINT32
Access rw
PDOMapping yes
Units acceleration units
Value Range –
Default Value –
6 Operating modes
118 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 6086h: motion_profile_type
The object motion_profile_type is used to select the type of positioning profile.
Index 6086h
Name motion_profile_type
Object Code VAR
Data Type INT16
Access rw
PDOMapping yes
Units –
Value Range 0, 3
Default Value 0
Value Curve form
0 Linear ramp
3 Ramp with jerk limitation
6.3.3 Functional description
There are two possibilities for passing on a target position to the motor controller:
Simple positioning task
If the motor controller has reached a target position, it signals this to the host with the bit tar-
get_reached (bit 10 in the object statusword). In this mode, the motor controller does not perform any
further positioning tasks after it has reached the target.
Sequence of positioning tasks
After the motor controller has reached a target, it immediately begins travelling to the next target. This
transition can occur smoothly, without the motor controller meanwhile coming to a standstill.
These two methods are controlled through the bits new_set_point and change_set_immediately in the
object controlword and set_point_acknowledge in the object statusword. These bits are in a question-
answer relationship to each other. This makes it possible to prepare a positioning task while another is
still running.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 119
setpoint_acknowledge
new_setpoint
data_valid
2
1
3
4
5
6
7
Fig. 6.15 Positioning job transmission from a host
PDOs are only processed in the motor controller every 1.6 ms and then only a single PDO
is processed. I.e. it takes up to 3.2 ms after the signal new_setpoint is signaled in the
Receive PDO until the acknowledgment is signaled in the status bit setpoint_acknow-
ledge in the Transmit PDO.
In Fig. 6.15, you can see how the host and the motor controller communicate with each other via the
CAN bus:
First, the positioning data (target position, travel speed, end speed and acceleration) are transmitted to
the motor controller. When the positioning data set has been completely written1, the host can start
positioning by setting the bit new_set_point in the controlword to “1”2. After the motor controller
recognises the new data and takes it over into its buffer, it reports this to the host by setting the bit
set_point_acknowledge in the statusword3.
Then the host can start to write a new positioning data set into the motor controller4 and delete the
bit new_set_point again5. Only when the motor controller can accept a new positioning job6 does it
signal this through a “0” in the set_point_acknowledge bit. Before this, no new positioning may be
started by the host7.
6 Operating modes
120 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
In Fig. 6.16, a new positioning task is only started after the previous one has been completely finished.
To determine this, the host evaluates the bit target_reached in the object statusword.
Timet0
v2
v1
t1 t2 t3
Velocity
Fig. 6.16 Simple positioning task
In Fig. 6.17, a new positioning task is already started while the previous one is still in process. The host
already passes the subsequent target on to the motor controller when the motor controller signals with
deletion of the bit set_point_acknowledge that it has read the buffer and started the related position-
ing task. In this way, positioning tasks follow each other seamlessly. For this operating mode, the object
end_velocity should be written with the same value as the object profile_velocity so that the motor
controller does not briefly brake to 0 rpm each time between the individual positioning tasks.
Timet0
v2
v1
t1 t2
Velocity
Fig. 6.17 Continuous sequence of positioning tasks
If, besides the bit new_set_point, the bit change_set_immediately is also set to “1” in the controlword,
the host instructs the motor controller to start the new positioning task immediately. In this case, a
positioning task already in process is interrupted.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 121
6.4 Synchronous position specification (Interpolated Position Mode)
6.4.1 Overview
The interpolated position mode (IP) permits synchronous specification of setpoint position values in a
multi-axis application of the motor controller. For this, synchronisation telegrams (SYNC) and position
setpoints are specified by a higher-order controller in a fixed time slot pattern (synchronisation inter-
val). Since the interval is normally greater than one position controller cycle, the motor controller inde-
pendently interpolates the data values between two specified position values, as shown in Fig. 6.18.
The shortest synchronisation interval is 6.4 ms. This is also the default value in the inter-
polation_time_period object (60C2h). The external position setpoints are interpolated
internally in the 400 μs position controller cycle.
Recommendation for an optimal path interpolation:
• Set the sync interval in integer multiples of 400 μs, e.g. 8 ms, 10 ms, 12 ms, ...
51 2
3
4
t[ms]
s[Inc]
-100
0
100
200
300
400
500
600
700
0 8 16 24 32 40 48 56 64 72 80
1 Interpolation cycle 8 ms
(preset by the controller)
2 Specification of the position setpoint
3 Support points (in the interpolation cycle)
4 Position controller cycle 400 μs
5 Internal setpoint value of the position
controller in a 400 μs position controller
cycle
Fig. 6.18 Positioning task polynomial interpolation between two data values
6 Operating modes
122 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
The objects required for the interpolated position mode are described first in the following section. A
subsequent functional description comprehensively covers the activation and sequencing of parameter
setting.
6.4.2 Description of the Objects
Objects treated in this chapter
Index Object Name Type Attr.
60C0h VAR interpolation_submode_select INT16 rw
1006h_00h Communication_cycle_period UINT32 ro
60C1h REC interpolation_data_record rw
60C2h REC interpolation_time_period rw
60C4h REC interpolation_data_configuration rw
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword INT16 5 Device control
6041h VAR statusword UINT16 5 Device control
6094h ARRAY velocity_encoder_factor UINT32 4.2 Conversion factors
6097h ARRAY acceleration_factor UINT32 4.2 Conversion factors
Object 60C0h: interpolation_submode_select
The type of interpolation is established via the object interpolation_submode_select. Currently, only
the manufacturer-specific variant “3rd order polynomial interpolation” is available.
Index 60C0h
Name interpolation_submode_select
Object Code VAR
Data Type INT16
Access rw
PDOMapping yes
Units –
Value Range -2
Default Value -2
Value Interpolation type
-2 Manufacturer-specific: 3rd order polynomial interpolation
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 123
Object 1006h_00h: communication_cycle_period
Through the object communication_cycle_period, the time set in μs in the object 60C2h_01h can be
read.
Sub-Index 00hDescription Communication_cycle_period
Access ro
PDOMapping no
Units μs
Value Range –
Default Value 1900h
Object 60C1h: interpolation_data_record
The object record interpolation_data_record represents the actual data record. It consists of an entry
for the position value (ip_data_position). The position value is interpreted as an absolute position.
Index 60C1h
Name interpolation_data_record
Object Code RECORD
No. of Elements 1
Sub-Index 01hDescription ip_data_position
Data Type INT32
Access rw
PDOMapping yes
Units position units
Value Range –
Default Value –
Object 60C2h: interpolation_time_period
The synchronisation interval can be set via the object record interpolation_time_period. Via ip_time_in-
dex, the unit (ms or 1/10 ms) of the interval is established, which is parametrised via ip_time_units.
To achieve synchronisation, the setpoint value specification of the controller cascade is
adapted to the external pulse. A change in the synchronisation interval is therefore effect-
ive only after a reset. Therefore, if the interpolation interval is to be revised via the CAN
bus, the parameter set must be saved ( Chapter 4.1) and a reset performed
( Chapter 5), so that the new synchronisation interval becomes effective. The synchron-
isation interval must be maintained exactly.
6 Operating modes
124 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Index 60C2h
Name interpolation_time_period
Object Code RECORD
No. of Elements 2
Sub-Index 01hDescription ip_time_units
Data Type UINT8
Access rw
PDOMapping yes
Units according to ip_time_index
Value Rangeip_time_index = -3: 1, 2 … 9, 10
ip_time_index = -4: 10, 20 … 90, 100
Default Value --
Sub-Index 02hDescription ip_time_index
Data Type INT8
Access rw
PDOMapping yes
Units –
Value Range -3, -4
Default Value -4
Value ip_time_units is specified in
-3 10-3 seconds (ms)
-4 10-4 seconds (0.1 ms)
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 125
Object 60C4h: interpolation_data_configuration
Through the object record interpolation_data_configuration, the type (buffer_organisation) and size
(max_buffer_size, actual_buffer_size) of a possibly available buffer, as well as access to it
(buffer_position, buffer_clear) can be configured. The size of a buffer element can be read out via the
object size_of_data_record. Although no buffer is available for the interpolation type “3rd order poly-
nomial interpolation”, access via the object buffer_clear must still be enabled.
Index 60C4h
Name interpolation_data_configuration
Object Code RECORD
No. of Elements 6
Sub-Index 01hDescription max_buffer_size
Data Type UINT32
Access ro
PDOMapping no
Units –
Value Range 0
Default Value 0
Sub-Index 02hDescription actual_size
Data Type UINT32
Access rw
PDOMapping yes
Units –
Value Range 0 … max_buffer_size
Default Value 0
Sub-Index 03hDescription buffer_organisation
Data Type UINT8
Access rw
PDOMapping yes
Units –
Value Range 0
Default Value 0
Value Meaning
0 FIFO
6 Operating modes
126 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Sub-Index 04hDescription buffer_position
Data Type UINT16
Access rw
PDOMapping yes
Units –
Value Range 0
Default Value 0
Sub-Index 05hDescription size_of_data_record
Data Type UINT8
Access wo
PDOMapping yes
Units –
Value Range –
Default Value –
Sub-Index 06hDescription buffer_clear
Data Type UINT8
Access wo
PDOMapping yes
Units –
Value Range 0, 1
Default Value 0
Value Meaning
0 Delete buffer/access to 60C1h not permitted
1 Access to 60C1h enabled
6.4.3 Functional description
Preparatory parameter setting
Before the motor controller is switched to the interpolated position mode, the interpolation interval
(interpolation_time_period) must be set, i.e. the time between two SYNC telegrams. The interpolation
type (interpolation_submode_select) is fixed. In addition, access to the position buffer must be en-
abled via the object buffer_clear.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 127
EXAMPLE
Exercise CAN object/COB
Type of interpolation -2 60C0h, interpolation_submode_select = –2
Time unit 0.1 ms 60C2h_02h, interpolation_time_index = –4
Time interval 8 ms 60C2h_01h, interpolation_time_units = 80
Save parameters 1010h_01h, save_all_parameters
Perform reset NMT reset node
Wait for bootup Bootup message
Buffer activation 1 60C4h_06h, buffer_clear = 1
Generate SYNC SYNC (grid 8 ms)
Activation of the interpolated position mode and synchronisation
The IP is activated via the object modes_of_operation (6060h).
The controller starts the interpolation algorithm with the change to the IP_MODE and then reports
IP_MODE_SELECTED immediately in the statusword. From this point, the motor controller expects new
setpoint values in the time grid of the sync interval.
If the interpolator no longer receives any setpoint values in the IP_MODE_SELECTED status, the motor
controller interrupts the IPO mode after 2 sync cycles and reports the error E125.
If the mode of operation is taken up, transfer of position data to the drive can begin. As is logical, the
higher-order controller first reads the current actual position from the motor controller and then writes
it cyclically into the motor controller as a new setpoint value (interpolation_data_record). Acceptance
of data by the motor controller is activated via handshake bits of the controlword and statusword. By
setting the bit enable_ip_mode in the controlword, the host shows that evaluation of the position data
should begin. The data records are evaluated only when the motor controller acknowledges this via the
status bit ip_mode_selected in the statusword.
In detail, therefore, the following assignment and procedure result:
6 Operating modes
128 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
modes_of_operation_display = 7
modes_of_operation = 7
controlword bit 4: Enable_ip_mode
controlword bit 12: ip_mode_active
Sync
Actual position
1 1 1 1 2 3 4 5Setpoint position
1 …5 : Position specifications
Fig. 6.19 Synchronisation and data release
Event CANObject
Generate SYNC message
Request of the ip operating mode: 6060h, modes_of_operation = 07
Wait until operating mode is taken 6061h, modes_of_operation_display = 07
Read-out of the current actual position 6064h, position_actual_value
Write back as current setpoint position 60C1h_01h, ip_data_position
Start of interpolation 6040h, controlword, enable_ip_mode
Acknowledgement by motor controller 6041h, statusword, ip_mode_active
Changing the current setpoint position in accordance
with trajectory
60C1h_01h, ip_data_position
After the synchronous travel process is ended, deletion of the bit enable_ip_mode prevents further
evaluation of position values.
Then the system can switch into another operating mode, if necessary.
Interruptions of interpolation in case of error
If an ongoing interpolation (ip_mode_active set) is interrupted by a controller error, the drive first acts
as specified for the respective error (e.g. removal of the controller enable and change to the status
SWICTH_ON_DISABLED).
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 129
The interpolation can only be continued through a new synchronisation, since the motor controller must
be brought back into the status OPERATION_ENABLED, through which the bit ip_mode_active is de-
leted.
6.5 Speed adjustment operating mode (Profile Velocity Mode)
6.5.1 Overview
The speed-regulated mode (Profile Velocity Mode) contains the following subfunctions:
– Setpoint value generation through the ramp generator
– Speed recording through differentiation via the angle encoder
– Speed regulation with appropriate input and output signals
– Limitation of the torque setpoint value (torque_demand_value)
– Monitoring of the actual speed (velocity_actual_value) with the window function/threshold
The significance of the following parameters is described in the Positioning chapter (Profile Position
Mode): Profile_acceleration, profile_deceleration, quick_stop.
6 Operating modes
130 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
target_velocity
(60FFh)
Multiplier
quick_stop_decelera-
tion (6085h)
profile_deceleration
(6084h)
profile_acceleration
(6083h)
Velocity_demand_value
(606Bh)
LimitFunction
Profile
Velocity
Profile
Acceleration
Profile
Deceleration
Quick Stop
Deceleration
Multiplier
velocity_encoder_factor
(6094h)
[speed units]
[acceleration units]
[acceleration units]
[acceleration units]
acceleration_factor
(6097h)
position_actual_value (6063h)Differentiation
d/dtVelocity_actual_value (606Ch)
velocity_demand_value (606Bh)
velocity_control_parameter_set (60F9h)
VelocityController
velocity_actual_value (606Ch) WindowComparatorSPDC_SPDC_N_TARGET_WIN_SPEED (0x00FA)
status_word (6041h)velocity = 0
velocity_actual_value (606Ch) WindowComparator
status_word (6041h)velocity_reached
control effort
SPDC_SPDC_N_TARGET_WIN_SPEED (0x00FA)
Fig. 6.20 Structure of the speed-regulated operation (profile velocity mode)
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 131
6.5.2 Description of the objects
Objects treated in this chapter
Index Object Name Type Attr.
6069h VAR velocity_sensor_actual_value INT32 ro
606Bh VAR velocity_demand_value INT32 ro
606Ch VAR velocity_actual_value INT32 ro
6080h VAR max_motor_speed UINT32 rw
60FFh VAR target_velocity INT32 rw
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword INT16 5 Device control
6041h VAR statusword UINT16 5 Device control
6063h VAR position_actual_value* INT32 4.6 Position controller
6071h VAR target_torque INT16 6.7 Torque controller
6072h VAR max_torque_value UINT16 6.7 Torque controller
607Eh VAR polarity UINT8 4.2 Conversion factors
6083h VAR profile_acceleration UINT32 6.3 Positioning
6084h VAR profile_deceleration UINT32 6.3 Positioning
6085h VAR quick_stop_deceleration UINT32 6.3 Positioning
6086h VAR motion_profile_type INT16 6.3 Positioning
6094h ARRAY velocity_encoder_factor UINT32 4.2 Conversion factors
Object 6069h: velocity_sensor_actual_value
With the object velocity_sensor_actual_value, the value of a possible speed encoder can be read out in
internal units. A separate tachometer cannot be connected in the CMMS motor controller family. There-
fore, to determine the actual speed value, the object 606Ch should be used.
Index 6069h
Name velocity_sensor_actual_value
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units Angle difference in increments per second
(65536 increments = 1 R)
Value Range –
Default Value –
6 Operating modes
132 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 606Bh: velocity_demand_value
The current speed setpoint value of the speed regulator can be read with this object. It is acted upon by
the setpoint value of the ramp and curve generators. If the position controller is activated, its correction
speed is also added.
Index 606Bh
Name velocity_demand_value
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units speed units
Value Range –
Default Value –
Object 606Ch: velocity_actual_value
The actual speed value can be read via the object velocity_actual_value.
Index 606Ch
Name velocity_actual_value
Object Code VAR
Data Type INT32
Access ro
PDOMapping yes
Units speed units
Value Range –
Default Value –
Object 6080h: max_motor_speed
The object max_motor_speed specifies the highest allowed speed for the motor in rpm (min-1). The
object is used to protect the motor and can be taken from the motor technical data. The speed setpoint
value is limited to this value.
Index 6080h
Name max_motor_speed
Object Code VAR
Data Type UINT16
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 133
Access rw
PDOMapping yes
Units min-1
Value Range 0 … 32768 min-1
Default Value 3000 min-1
Object 60FFh: target_velocity
The object target_velocity is the setpoint specification for the ramp generator.
Index 60FFh
Name target_velocity
Object Code VAR
Data Type INT32
Access rw
PDOMapping yes
Units speed units
Value Range –
Default Value –
6.6 Speed ramps
If profile_velocity_mode is selected as modes_of_operation, the setpoint ramp is also activated. It is
thus possible to limit a jump-like setpoint value change to a specific speed change per time via the
objects profile_acceleration and profile_deceleration. The controller not only permits specification of
different values for braking deceleration and acceleration, but also differentiation between positive and
negative speed. The following illustration depicts this behaviour:
6 Operating modes
134 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
t
V
Ramp generator input
Ramp generator output
velocity_acceleration_pos (2090h_02h)
velocity_deceleration_pos (2090h_03h)
velocity_acceleration_neg (2090h_04h)
velocity_deceleration_neg (2090h_05h)
Fig. 6.21 Speed ramps
The object group velocity_ramps is available to parameterise these 4 accelerations. Note that the ob-
jects profile_acceleration and profile_deceleration change the same internal accelerations as the velo-
city_ramps. If the profile_acceleration is written, velocity_acceleration_pos and velocity_ accelera-
tion_neg are changed together; if the profile_deceleration is written, velocity_deceleration_pos and
velocity_deceleration_neg are changed together. The object velocity_ramps_enable determines wheth-
er or not the setpoint values are guided over the ramp generator.
Object 2090h: velocity_ramps
Index 2090h
Name velocity_ramps
Object Code RECORD
No. of Elements 5
Sub-Index 02hDescription velocity_acceleration_pos
Data Type INT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value –
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 135
Sub-Index 03hDescription velocity_deceleration_pos
Data Type INT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 04hDescription velocity_acceleration_neg
Data Type INT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value –
Sub-Index 05hDescription velocity_deceleration_neg
Data Type INT32
Access rw
PDOMapping no
Units –
Value Range –
Default Value –
6 Operating modes
136 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
6.7 Torque regulation operating mode (Profile TorqueMode)
6.7.1 Overview
This chapter describes torque-regulated operation. This operating mode allows an external torque
setpoint value target_torque to be specified for the motor controller. It is thus possible for this motor
controller to also be used for path control, with which both the position controller and the speed regu-
lator are displaced to an external computer.
max_torque (6072h)
motor_rated_torque (6076h)Limit
Function
max_current (6073h)
motor_rated_current (6075h)
max_torque (6071h)
Torque
Control
and
Power
Stage
current_actual_value
(6078h)
torque_actual_value
(6077h)
torque_demand _value
(6074h)
DC_link_circuit_voltage
(6079h)
Motor
Limit
Function
Fig. 6.22 Structure of torque-regulated operation
All definitions within this document refer to rotatable motors. If linear motors have to be used, all
“torque” objects must refer to a “force” instead. For simplicity, the objects do not appear twice and
their names should not be changed.
The operating modes positioning mode (Profile Position Mode) and speed regulator (Profile Velocity
Mode) need the torque controller to work. That is why it is always necessary to set its parameters.
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 137
6.7.2 Description of the objects
Objects treated in this chapter
Index Object Name Type Attr.
6071h VAR target_torque INT16 rw
6072h VAR max_torque UINT16 rw
6074h VAR torque_demand_value INT16 ro
6076h VAR motor_rated_torque UINT32 rw
6077h VAR torque_actual_value INT16 ro
6078h VAR current_actual_value INT16 ro
6079h VAR dc_link_circuit_voltage UINT32 ro
60F7h RECORD power_stage_parameters rw
60F6h RECORD torque_control_parameters rw
Affected objects from other chapters
Index Object Name Type Chapter
6040h VAR controlword INT16 5 Device Control
60F9h RECORD motor_parameters 4.4 Current Regulator and Motor Adjustment
6073h VAR max_current UINT16 4.4 Current Regulator and Motor Adjustment
6075h VAR motor_rated_current UINT32 4.4 Current Regulator and Motor Adjustment
Object 6071h: target_torque
This parameter is the entry value for the torque regulator in torque-regulated mode (Profile Torque
Mode). It is specified in thousandths of the nominal torque (object 6076h).
Index 6071h
Name target_torque
Object Code VAR
Data Type INT16
Access rw
PDOMapping yes
Units motor_rated_torque/1000
Value Range -32768 … 32768
Default Value 0
Object 6072h: max_torque
This value represents the motor's maximum permissible torque. It is specified in thousandths of the
nominal torque (object 6076h). If, for example, a two-fold overloading of the motor is briefly
permissible, the value 2000 is entered here.
6 Operating modes
138 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
The object 6072h: Max_torque corresponds to the object 6073h: Max_current and may
only be written if the object 6075h: Motor_rated_current was previously written with a
valid value.
Index 6072h
Name max_torque
Object Code VAR
Data Type UINT16
Access rw
PDOMapping yes
Units motor_rated_torque/1000
Value Range -1000 … 65536
Default Value 1675
Object 6074h: torque_demand_value
Bymeans of this object, the current nominal torque can be read out in thousandths of the nominal
torque (6076h). The internal limitations of the controller (current limit values and I2t monitoring) are
hereby taken into account.
Index 6074h
Name torque_demand_value
Object Code VAR
Data Type INT16
Access ro
PDOMapping yes
Units motor_rated_torque/1000
Value Range --
Default Value --
Object 6076h: motor_rated_torque
This object specifies the nominal torque of the motor. This can be taken from the motor's rating plate. It
is entered in the unit 0.001 Nm.
Index 6076h
Name motor_rated_torque
Object Code VAR
Data Type UINT32
6 Operating modes
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 139
Access rw
PDOMapping yes
Units 0.001 Nm
Value Range –
Default Value 1499
Object 6077h: torque_actual_value
Bymeans of this object, the motor's actual torque can be read out in thousandths of the nominal
torque (object 6076h).
Index 6077h
Name torque_actual_value
Object Code VAR
Data Type INT16
Access ro
PDOMapping yes
Units motor_rated_torque/1000
Value Range –
Default Value –
Object 6078h: current_actual_value
Bymeans of this object, the motor's actual current can be read out in thousandths of the nominal cur-
rent (object 6075h).
Index 6078h
Name current_actual_value
Object Code VAR
Data Type INT16
Access ro
PDOMapping yes
Units motor_rated_current/1000
Value Range –
Default Value –
6 Operating modes
140 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Object 6079h: dc_link_circuit_voltage
The intermediate circuit voltage of the controller can be read via this object. The voltage is specified in
the unit millivolts.
Index 6079h
Name dc_link_circuit_voltage
Object Code VAR
Data Type UINT32
Access ro
PDOMapping yes
Units mV
Value Range –
Default Value –
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 141
A Diagnostic messages
A.1 Explanations on the diagnostic messages
The following table summarises the significance of the diagnostic messages and the actions to be
taken in response to them:
Terms Meaning
No. Main index (error group) and sub-index of the diagnostic message.
Indication via the 7-segments display, in FCT or in the diagnostic memory via
FHPP.
Code The Code column includes the error code (Hex) via CiA 301.
Message Message that is displayed in the FCT.
Cause Possible causes for the message.
Action Action by the user.
Reaction The Reaction column includes the error response (default setting, partially con-
figurable):
– PS off (block output stage),
– QStop (fast stop with parameterised ramp),
– Warn (warning),
– Ignore.
Tab. A.1 Explanations on the diagnostic messages
For a complete list of the diagnostic messages that correspond to the firmware versions used at the
time of printing this document, please refer to section A.2.
Under section A.3, you will find the error codes in accordance with CiA301/402 and the error bit num-
bers with assignment to the error numbers of the diagnostic messages.
A Diagnostic messages
142 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
A.2 Diagnostic messages with instructions for fault clearance
Error group 01 Internal faults
No. Code Message Reaction
01-0 6180h Stack overflow (internal error) PS off
Cause – Incorrect firmware?
– Sporadic high processor load due to special compute-bound
processes (save parameter set, etc.).
Action • Load approved firmware.
• Contact Technical Support.
Error group 02 Intermediate circuit
No. Code Message Reaction
02-0 3220h Undervoltage in intermediate circuit configurable
Cause – Intermediate circuit voltage falls below the parameterised
threshold.
Action • Quick discharge due to switched-off mains supply.
• Check mains voltage (mains voltage level or network
impedance too high?).
• Check intermediate circuit voltage (measure).
• Check undervoltage monitor (threshold value).
• Check travel profile: If travel with lower acceleration and/or
travel speeds is possible, reduced power consumption from the
mains results.
Error group 03 Temperature monitoring, motor
No. Code Message Reaction
03-1 4310h Temperature monitoring, motor configurable
Cause Motor overloaded, temperature too high.
– Motor too hot.
– Sensor defective?
Action • Check parameters (current regulator, current limits).
If the error persists when the sensor is bypassed: Device defective.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 143
Error group 04 Temperature monitoring, electronics
No. Code Message Reaction
04-0 4210h Excess/low temperature of power electronics configurable
Cause Motor controller is overheated.
– Motor controller overloaded?
– Temperature display plausible?
Action • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
• Check the drive layout (due to possible overloading in
continuous operation).
Error group 05 Internal power supply
No. Code Message Reaction
05-0 5114h 5 V electronics supply fault PS off
Cause Monitoring of the internal power supply has recognised
undervoltage. This is either due to an internal defect or an
overload/short circuit caused by connected peripherals.
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-1 5115h Error in 24 V supply PS off
Cause Monitoring of the internal power supply has recognised
undervoltage.
Action • Check 24 V logic supply.
• Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-2 5116h 12 V electronics supply fault PS off
Cause CMMS-ST only:
Monitoring of the internal power supply has recognised
undervoltage. This is either due to an internal defect or an
overload/short circuit caused by connected peripherals.
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
05-2 8000h Driver supply error/driver supply failed PS off
Cause Only CMMS-AS/CMMD-AS:
Error in the plausibility check of the driver supply (safe torque off )
Action • Separate device from the entire peripheral equipment and
check whether the error is still present after reset. If so, an
internal defect is present Repair by the manufacturer.
A Diagnostic messages
144 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 06 Intermediate circuit
No. Code Message Reaction
06-0 2320h Over-current of the intermediate circuit/output stage PS off
Cause – Motor defective.
– Short circuit in the cable.
– Output stage defective.
Action • Check motor, cable and motor controller.
Error group 07 Intermediate circuit
No. Code Message Reaction
07-0 3210h Overvoltage in the intermediate circuit PS off
Cause Braking resistor is overloaded; too much braking energy which
cannot be dissipated quickly enough.
– Resistor capacity is incorrect?
– Resistor not connected correctly?
– Check design (application)
Action • Check the design of the braking resistor (positioning drives);
resistance value may be too great.
• Check the connection to the braking resistor (internal/external).
Error group 08 Angle encoder
No. Code Message Reaction
08-0 7380h Encoder supply error PS off
Cause CMMS-ST only:
Encoder supply outside the permissible range (too high/too low).
Action • Test with another encoder.
• Test with another encoder cable.
• Test with another motor controller.
08-6 7386h Angle encoder communication fault PS off
Cause Only CMMS-AS/CMMD-AS:
Communication to serial angle encoders is disrupted (EnDat
encoders).
– Angle encoder connected?
– Angle encoder cable defective?
– Angle encoder defective?
Action • Check whether encoder signals are faulty?
• Test with another encoder.
• Check angle encoder cable.
For operation with long motor cables:
• Observe notes on EMC-compliant installation! Additional
anti-interference measures required from 15 m cable length.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 145
Error group 08 Angle encoder
No. ReactionMessageCode
08-8 7388h Internal angle encoder error PS off
Cause Only CMMS-AS/CMMD-AS:
Internal monitoring of the angle encoder has detected an error and
forwarded it via serial communication to the motor controller.
Possible causes:
– Excess rotational speed.
– Angle encoder defective.
Action If the error occurs repeatedly, the encoder is defective. Replace
encoder including encoder cable.
Error group 11 Homing
No. Code Message Reaction
11-1 8A81h Homing error PS off
Cause Homing was interrupted, e.g. by:
– Withdrawal of controller enable.
– Reference switch is beyond the limit switch.
– External stop signal (termination of a homing phase).
Action • Check homing sequence.
• Check arrangement of the switches.
• If applicable, lock the stop input during homing if it is not de-
sired.
Error group 12 CAN
No. Code Message Reaction
12-0 8181h CAN: General error configurable
Cause Other CAN error.
Triggered by the CAN controller itself and is used as a common
error for all further CAN errors.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
12-1 8181h CAN: Error bus off configurable
Cause Errors can occur if the CAN control malfunctions or is deliberately
requested by the controller of the bus-off status.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring.
A Diagnostic messages
146 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 12 CAN
No. ReactionMessageCode
12-2 8181h CAN: Error when transmitting configurable
Cause Error when sending a message (e.g. no bus connected).
Action • Re-start CAN controller
• Check CAN configuration in the controller
• Check wiring
12-3 8181h CAN: Error receiving configurable
Cause Error receiving a message.
Action • Re-start CAN controller.
• Check CAN configuration in the controller.
• Check wiring: Cable specification adhered to, broken cable,
maximum cable length exceeded, correct terminating resistors,
cable screening earthed, all signals terminated?
12-4 8130h CAN: Time-out nodeguarding configurable
Cause Node guarding telegram not received within the parametrised
time. Signals corrupted?
Action • Compare cycle time of the remote frames with that of the
controller.
• Check: Failure of the controller?
12-5 8181h CAN: Error in the IPO mode configurable
Cause Over a period of 2 SYNC intervals, the SYNC telegram or the PDO of
the controller has failed.
Action • Re-start CAN controller.
• Check CAN configuration in the controller (SYNC telegram must
be parameterised).
• Check wiring.
Error group 14 Motor identification
No. Code Message Reaction
14-9 6197h Error, motor identification PS off
Cause Error in automatic determination of the motor parameters.
Action • Ensure sufficient intermediate circuit voltage.
• Encoder cable connected to the right motor?
• Motor blocked, e.g. holding brake does not release?
Error group 16 Initialization
No. Code Message Reaction
16-2 6187 h Initialization fault PS off
Cause Error in initialising the default parameters.
Action • In case of repetition, load firmware again.
If the error occurs repeatedly, the hardware is defective.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 147
Error group 16 Initialization
No. ReactionMessageCode
16-3 6183h Unexpected status / programming error PS off
Cause The software has taken an unexpected status.
For example, unknown status in the FHPP state machine.
Action • In case of repetition, load firmware again.
If the error occurs repeatedly, the hardware is defective.
Error group 17 Following error monitoring
No. Code Message Reaction
17-0 8611h Following error monitoring configurable
Cause Comparison threshold for the limit value of the following error
exceeded.
Action • Enlarge error window.
• Parameterise acceleration to be less.
• Motor overloaded (current limiter from the I²t monitoring active?).
Error group 18 Output stage temperature monitoring
No. Code Message Reaction
18-1 4280h Output stage temperature 5 °C belowmaximum configurable
Cause The output stage temperature is greater than 90 °C.
Action • Check installation conditions, cooling through the housing
surface, integrated heat sink and back wall.
Error group 19 I²t monitoring
No. Code Message Reaction
19-0 2380h I²t at 80 % configurable
Cause Of the maximum I²t workload of the controller or motor, 80 % has
been achieved.
Action • Check whether motor/mechanics are blocked or sluggish.
Error group 21 Current measurement
No. Code Message Reaction
21-0 5210h Error, offset current measurement PS off
Cause The controller performs offset compensation of the current
measurement.
Tolerances that are too large result in an error.
Action If the error occurs repeatedly, the hardware is defective.
• Send motor controller to the manufacturer.
A Diagnostic messages
148 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 22 PROFIBUS
No. Code Message Reaction
22-0 7500h Error in PROFIBUS initialisation PS off
Cause Fieldbus interface defective.
Action • Please contact Technical Support.
22-2 7500h PROFIBUS communication error configurable
Cause – Faulty initialisation of the Profibus interface.
– Interface defective.
Action • Check the set slave address.
• Check bus termination.
• Check wiring.
Error group 25 Firmware
No. Code Message Reaction
25-1 6081 h Incorrect firmware PS off
Cause Motor controller and firmware are not compatible.
Action • Update the firmware.
Error group 26 Data flash
No. Code Message Reaction
26-1 5581h Checksum error PS off
Cause Checksum error of a parameter set.
Action • Load factory setting.
• If the error is still present, the hardware may be defective.
Error group 29 SD card
No. Code Message Reaction
29-0 7680h No SD configurable
Cause An attempt was made to access a missing SD card.
Action Check:
• whether the SD card is inserted properly,
• whether the SD card is formatted,
• whether a compatible SD card is plugged in.
29-1 7681h SD initialization error configurable
Cause – Error during initialization.
– Communication not possible.
Action • Plug card back in.
• Check card (file format FAT 16).
• If necessary, format card.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 149
Error group 29 SD card
No. ReactionMessageCode
29-2 7682h SD parameter record error configurable
Cause – Checksum incorrect.
– File not present.
– File format incorrect.
– Error backing up the parameter file on the SD card.
Action • Check content (data) of the SD card.
Error group 31 I²t monitoring
No. Code Message Reaction
31-0 2312h I²t error motor (I²t at 100 %) configurable
Cause I²t monitoring of the controller has been triggered.
– Motor/mechanical system blocked or sluggish.
– Motor under-sized?
Action • Check motor and mechanical system.
31-1 2311h I²t error controller (I²t at 100 %) configurable
Cause I²t monitoring of the controller has been triggered.
Action • Check power dimensioning of drive package.
Error group 32 Intermediate circuit
No. Code Message Reaction
32-0 3280h Intermediate circuit charging time exceeded PS off
Cause Only CMMS-AS/CMMD-AS:
The intermediate circuit could not be charged after the mains
voltage was applied.
– Fuse possibly defective.
– Internal braking resistor defective.
– In operation with external braking resistor, the resistor is not
connected
Action • Check mains voltage (intermediate circuit voltage < 150 V)
• Check interface to the external braking resistor.
• If the interface is correct, the internal braking resistor or the
built-in fuse is presumably faulty Repair by the manufacturer.
32-8 3285h Power supply failure during controller enable PS off
Cause Interruption/power failure while the controller enable was active.
Action • Check mains voltage/power supply.
A Diagnostic messages
150 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 35 Fast stop
No. Code Message Reaction
35-1 6199h Time out for quick stop PS off
Cause The parametrised time for fast stop was exceeded.
Action • Check parameterisation.
Error group 40 Software limit
No. Code Message Reaction
40-0 8612h Negative software limit switch reached configurable
Cause The position setpoint has reached or exceeded the negative
software limit switch.
Action • Check the target data.
• Check positioning area.
40-1 8612h Positive software limit switch reached configurable
Cause The position setpoint has reached or exceeded the positive
software limit switch.
Action • Check the target data.
• Check positioning area.
40-2 8612h Target position lies behind the negative software limit switch configurable
Cause Start of a positioning task was suppressed because the target lies
behind the negative software limit switch.
Action • Check the target data.
• Check positioning area.
40-3 8612h Target position lies behind the positive software limit switch configurable
Cause The start of a positioning task was suppressed because the target
lies behind the positive software limit switch.
Action • Check the target data.
• Check positioning area.
Error group 41 Path program
No. Code Message Reaction
41-8 6193h Path program error, unknown command configurable
Cause Unknown command found during record continuation.
Action • Check parameterisation.
41-9 6192h Error in path program jump destination configurable
Cause Jump to a positioning record outside the permitted range.
Action • Check parameterisation.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 151
Error group 42 Positioning
No. Code Message Reaction
42-1 8681h Positioning: Error in pre-computation configurable
Cause Positioning cannot be reached through the options of the
positioning (e.g. final speed) or parameters.
Action • Check parametrisation of the position records in question.
42-4 8600h Message, homing required configurable
Cause – Positioning not possible without homing.
– Homing must be carried out.
Action • Reset optional parameterisation “Homing required”.
• Carry out a new homing run after acknowledgement of an angle
encoder error.
42-9 6191h Error in position data record PS off
Cause – An attempt is being made to start an unknown or deactivated
position record.
– The set acceleration is too small for the permissible maximum
speed.
– (Danger of a calculation overflow in the trajectory calculation).
Action • Check parameterisation and sequence control and correct if
necessary.
Error group 43 Limit switch error
No. Code Message Reaction
43-0 8612h Negative limit switch error configurable
Cause Negative hardware limit switch reached.
Action • Check parameterisation, wiring and limit switches.
43-1 8612h Positive limit switch error configurable
Cause Positive hardware limit switch reached.
Action • Check parameterisation, wiring and limit switches.
43-9 8612h Error in limit switch configurable
Cause Both hardware limit switches are active simultaneously.
Action • Check parameterisation, wiring and limit switches.
A Diagnostic messages
152 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 45 STO error
No. Code Message Reaction
45-0 8000h Error in driver supply PS off
Cause Driver supply is still active despite the STO requirement.
Action The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-1 8000h Error in driver supply PS off
Cause The driver supply is active again, although STO is still required.
Action The internal logic for the STO requirement may be disturbed due to
high-frequency switching operations at the input.
• Check activation; the error must not recur.
• If the error occurs repeatedly when the STO is called:
• Check firmware (approved version?).
If all the above options have been excluded, the hardware of the
motor controller is defective.
45-2 8000h Error in driver supply PS off
Cause The driver supply is not active again, although STO is no longer
required.
Action If the error occurs again after the STO requirement is ended, the
hardware of the motor controller is defective.
45-3 8087h DIN4 plausibility error PS off
Cause Output stage no longer switches off Hardware defective.
Action Repair by the manufacturer.
Error group 64 DeviceNet error
No. Code Message Reaction
64-0 7582h DeviceNet communication error PS off
Cause Node number exists twice.
Action • Check the configuration.
64-1 7584h DeviceNet general error PS off
Cause The 24 V bus voltage is missing.
Action • In addition to the motor controller, the DeviceNet interface
must also be connected to 24 V DC.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 153
Error group 64 DeviceNet error
No. ReactionMessageCode
64-2 7582h DeviceNet communication error PS off
Cause – Receive buffer overflow.
– Too many messages received within a short period.
Action • Reduce the scan rate.
64-3 7582h DeviceNet communication error PS off
Cause – Send buffer overflow.
– Insufficient free space on the CAN bus to transmit messages.
Action • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
64-4 7582h DeviceNet communication error PS off
Cause IO-message could not be sent
Action • Check that the network is connected correctly and does not
malfunction.
64-5 7582h DeviceNet communication error PS off
Cause Bus off.
Action • Check that the network is connected correctly and does not
malfunction.
64-6 7582h DeviceNet communication error PS off
Cause Overflow in the CAN controller.
Action • Increase the baud rate.
• Reduce the number of nodes.
• Reduce the scan rate.
Error group 65 DeviceNet error
No. Code Message Reaction
65-0 7584h DeviceNet general error configurable
Cause – Communication is activated, even though no interface is
plugged in.
– The DeviceNet interface is attempting to read an unknown object.
– Unknown DeviceNet error.
Action • Check whether the DeviceNet interface is plugged in correctly.
• Check that the network is connected correctly and does not
malfunction.
65-1 7582h DeviceNet communication error configurable
Cause I/O connection timeout.
No I/O message received within the expected time.
Action • Please contact Technical Support.
A Diagnostic messages
154 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Error group 70 Operating mode error
No. Code Message Reaction
70-2 6195h General arithmetic error PS off
Cause The fieldbus factor group cannot be calculated correctly.
Action • Check the factor group.
70-3 6380h Operating mode configurable
Cause This operating mode change is not supported by the motor controller.
Action • Check your application.
Not every change is permissible.
Error group 76 SSIO error
No. Code Message Reaction
76-0 8100h Error SSIO communication (axis 1 - axis 2) configurable
Cause Only CMMD-AS:
– Checksum error during transfer of the SSIO protocol.
– Timeout during transmission.
Action • Check wiring.
• Check whether the screening of the motor cables is correctly
applied (EMC problem).
If SSIO communication is not absolutely necessary
(e.g. no fieldbus interface is used, and the axes are controlled
separately over I/Os), this error may be ignored.
76-1 8100h Error SSIO communication (axis 2) configurable
Cause Only CMMD-AS:
SSIO partner has error 76-0.
Action The error is triggered when the other axis has reported an SSIO
communication error. For example, if axis 2 reports the error 76-0,
the error 76-1 is triggered for axis 1.
Measures and description of the error response as with error 76-0.
Error group 79 RS232 error
No. Code Message Reaction
79-0 7510h RS232 communication error configurable
Cause Overrun when receiving RS232 commands.
Action • Check wiring.
• Check of the transmitted data.
A Diagnostic messages
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 155
A.3 Error codes via CiA 301/402
Diagnostic messages
Code No. No. bit Message Reaction
2311h 31-1 19 I²t error controller (I²t at 100 %) configurable
2312h 31-0 18 I²t error motor (I²t at 100 %) configurable
2320h 06-0 13 Over-current of the intermediate circuit/output stage PS off
2380h 19-0 25 I²t at 80 % configurable
3210h 07-0 15 Overvoltage in the intermediate circuit PS off
3220h 02-0 14 Undervoltage in intermediate circuit configurable
3280h 32-0 16 Intermediate circuit charging time exceeded PS off
3285h 32-8 17 Power supply failure during controller enable PS off
4210h 04-0 3 Excess/low temperature of power electronics configurable
4280h 18-1 27 Output stage temperature 5 °C below maximum configurable
4310h 03-1 2 Temperature monitoring, motor configurable
5114h 05-0 8 5 V electronics supply fault PS off
5115h 05-1 10 Error in 24 V supply PS off
5116h 05-2 9 12 V electronics supply fault PS off
5210h 21-0 12 Error, offset current measurement PS off
5581h 26-1 62 Checksum error PS off
6081h 25-1 11 Incorrect firmware PS off
6180h 01-0 61 Stack overflow (internal error) PS off
6183h 16-3 60 Unexpected status / programming error PS off
6187h 16-2 63 Initialization fault PS off
6191h 42-9 56 Error in position data record PS off
6192h 41-9 42 Error in path program jump destination configurable
6193h 41-8 43 Path program error, unknown command configurable
6195h 70-2 58 General arithmetic error PS off
6197h 14-9 39 Error, motor identification PS off
6199h 35-1 34 Time out for quick stop PS off
6380h 70-3 57 Operating mode configurable
7380h 08-0 4 Encoder supply error PS off
7386h 08-6 5 Angle encoder communication error PS off
7388h 08-8 6 Internal angle encoder error PS off
7500h 22-0 47 Error in PROFIBUS initialisation PS off
22-2 53 PROFIBUS communication error configurable
7510h 79-0 55 RS232 communication error configurable
A Diagnostic messages
156 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Diagnostic messages
Code ReactionMessageNo. bitNo.
7582h 64-0 52 DeviceNet communication error PS off
64-2 52 DeviceNet communication error PS off
64-3 52 DeviceNet communication error PS off
64-4 52 DeviceNet communication error PS off
64-5 52 DeviceNet communication error PS off
64-6 52 DeviceNet communication error PS off
65-1 52 DeviceNet communication error configurable
7584h 64-1 44 DeviceNet general error PS off
65-0 44 DeviceNet general error configurable
7680h 29-0 48 No SD configurable
7681h 29-1 49 SD initialization error configurable
7682h 29-2 50 SD parameter record error configurable
8000h 45-0 21 Error in driver supply PS off
45-1 21 Error in driver supply PS off
45-2 21 Error in driver supply PS off
05-2 21 Driver supply error/driver supply failed PS off
8087h 45-3 22 DIN4 plausibility error PS off
8100h 76-0 41 Error SSIO communication (axis 1 - axis 2) configurable
76-1 40 Error SSIO communication (axis 2) configurable
8130h 12-4 23 CAN: Time-out nodeguarding configurable
8181h 12-0 54 CAN: General error configurable
12-1 54 CAN: Error bus off configurable
12-2 54 CAN: Error when transmitting configurable
12-3 54 CAN: Error receiving configurable
12-5 54 CAN: Error in the IPO mode configurable
8600h 42-4 29 Message, homing required configurable
8611h 17-0 28 Following error monitoring configurable
8612h 40-0 31 Negative software limit switch reached configurable
40-1 31 Positive software limit switch reached configurable
40-2 31 Target position lies behind the negative software limit
switch
configurable
40-3 31 Target position lies behind the positive software limit
switch
configurable
43-0 30 Negative limit switch error configurable
43-1 30 Positive limit switch error configurable
43-9 30 Error in limit switch configurable
8681h 42-1 59 Positioning: Error in pre-computation configurable
8A81h 11-1 35 Homing error PS off
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 157
Index
A
Acceleration
– Brake (Positionieren) 117. . . . . . . . . . . . . . . . .
– Quick stop (Positionieren) 117. . . . . . . . . . . . .
acceleration_factor 55. . . . . . . . . . . . . . . . . . . . .
Actual position at homing 87. . . . . . . . . . . . . . . .
Actual position value (inkrements) 73. . . . . . . . .
Actual position value (position units) 73. . . . . . .
Actual speed value 132. . . . . . . . . . . . . . . . . . . . .
Actual torque value 139. . . . . . . . . . . . . . . . . . . .
Actual value
– Moment (torque_actual_value) 139. . . . . . . . .
– Position in increments
(position_actual_value_s) 73. . . . . . . . . . . . . .
– Position in position_units
(position_actual_value) 73. . . . . . . . . . . . . . . .
actual_size 125. . . . . . . . . . . . . . . . . . . . . . . . . . .
Angle encoder offset 65. . . . . . . . . . . . . . . . . . . .
Approach new position 119. . . . . . . . . . . . . . . . .
B
buffer_clear 126. . . . . . . . . . . . . . . . . . . . . . . . . .
buffer_organisation 125. . . . . . . . . . . . . . . . . . . .
buffer_position 126. . . . . . . . . . . . . . . . . . . . . . .
C
CAN address 14. . . . . . . . . . . . . . . . . . . . . . . . . . .
cob_id_sync 32. . . . . . . . . . . . . . . . . . . . . . . . . . .
cob_id_used_by_pdo 28. . . . . . . . . . . . . . . . . . .
Contouring error time-out time 74. . . . . . . . . . . .
Control of the controller 88. . . . . . . . . . . . . . . . . .
control_effort 75. . . . . . . . . . . . . . . . . . . . . . . . . .
Controller enable logic 61. . . . . . . . . . . . . . . . . . .
Controller error 34. . . . . . . . . . . . . . . . . . . . . . . . .
controlword 94. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Bit assignment 90, 93, 95. . . . . . . . . . . . . . . . .
– Commands 95. . . . . . . . . . . . . . . . . . . . . . . . . .
– Objektbeschreibung 94. . . . . . . . . . . . . . . . . . .
Conversion factors 49. . . . . . . . . . . . . . . . . . . . . .
– Choice of prefix 58. . . . . . . . . . . . . . . . . . . . . . .
– Position Factor 51. . . . . . . . . . . . . . . . . . . . . . .
Correction velocity 72. . . . . . . . . . . . . . . . . . . . . .
Current control
– Gain 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Parameter 66. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Time Constant 66. . . . . . . . . . . . . . . . . . . . . . . .
Current following error 74. . . . . . . . . . . . . . . . . . .
Current limitation 76. . . . . . . . . . . . . . . . . . . . . . .
Current setpoint value 138. . . . . . . . . . . . . . . . . .
current_actual_value 139. . . . . . . . . . . . . . . . . . .
current_limitation 76. . . . . . . . . . . . . . . . . . . . . .
Curve generator 114. . . . . . . . . . . . . . . . . . . . . . .
Cycle time PDOs 28. . . . . . . . . . . . . . . . . . . . . . . .
D
Data rate 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
dc_link_circuit_voltage 140. . . . . . . . . . . . . . . . .
Device Control 88. . . . . . . . . . . . . . . . . . . . . . . . .
Digital inputs 77. . . . . . . . . . . . . . . . . . . . . . . . . .
Digital outputs 78. . . . . . . . . . . . . . . . . . . . . . . . .
– Statuses 78. . . . . . . . . . . . . . . . . . . . . . . . . . . .
digital_inputs 77. . . . . . . . . . . . . . . . . . . . . . . . . .
digital_outputs 78. . . . . . . . . . . . . . . . . . . . . . . . .
digital_outputs_data 78. . . . . . . . . . . . . . . . . . . .
divisor
– acceleration_factor 55. . . . . . . . . . . . . . . . . . .
– position_factor 51. . . . . . . . . . . . . . . . . . . . . . .
– velocity_encoder_factor 53. . . . . . . . . . . . . . . .
drive_data 60, 79. . . . . . . . . . . . . . . . . . . . . . . . .
E
EMERGENCY Message 34. . . . . . . . . . . . . . . . . . .
emergency_over_cob_par 87. . . . . . . . . . . . . . . .
Enable Logic 61. . . . . . . . . . . . . . . . . . . . . . . . . . .
enable_logic 61. . . . . . . . . . . . . . . . . . . . . . . . . . .
encoder_offset_angle 65. . . . . . . . . . . . . . . . . . .
end_velocity 116. . . . . . . . . . . . . . . . . . . . . . . . . .
Error management 85. . . . . . . . . . . . . . . . . . . . . .
error_management 85. . . . . . . . . . . . . . . . . . . . .
error_register 34. . . . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
158 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
F
Factor group 49. . . . . . . . . . . . . . . . . . . . . . . . . . .
– acceleration_factor 55. . . . . . . . . . . . . . . . . . .
– polarity 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– position_factor 51. . . . . . . . . . . . . . . . . . . . . . .
– velocity_encoder_factor 53. . . . . . . . . . . . . . . .
firmware_custom_version 84. . . . . . . . . . . . . . . .
firmware_main_version 84. . . . . . . . . . . . . . . . . .
first_mapped_object 29. . . . . . . . . . . . . . . . . . . .
Following error 68. . . . . . . . . . . . . . . . . . . . . . . . .
– Error window 74. . . . . . . . . . . . . . . . . . . . . . . . .
– Time-out time 74. . . . . . . . . . . . . . . . . . . . . . . .
Following error window 74. . . . . . . . . . . . . . . . . .
Following_Error 68. . . . . . . . . . . . . . . . . . . . . . . .
following_error_actuel_value 74. . . . . . . . . . . . .
following_error_time_out 74. . . . . . . . . . . . . . . .
following_error_window 74. . . . . . . . . . . . . . . . .
fourth_mapped_object 30. . . . . . . . . . . . . . . . . .
G
Gain of the current regulator 66. . . . . . . . . . . . . .
H
home_offset 108. . . . . . . . . . . . . . . . . . . . . . . . . .
Homing 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Control of the 113. . . . . . . . . . . . . . . . . . . . . . .
– Creep speed 109. . . . . . . . . . . . . . . . . . . . . . . .
– Method 109. . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Search speed 109. . . . . . . . . . . . . . . . . . . . . . .
– Speeds 109. . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Zero point offset 108. . . . . . . . . . . . . . . . . . . . .
Homing method 109. . . . . . . . . . . . . . . . . . . . . . .
homing mode 106. . . . . . . . . . . . . . . . . . . . . . . . .
– home_offset 108. . . . . . . . . . . . . . . . . . . . . . . .
– homing_acceleration 110. . . . . . . . . . . . . . . . .
– homing_method 108. . . . . . . . . . . . . . . . . . . . .
– homing_speeds 109. . . . . . . . . . . . . . . . . . . . .
homing_acceleration 110. . . . . . . . . . . . . . . . . . .
homing_method 108. . . . . . . . . . . . . . . . . . . . . . .
homing_speeds 109. . . . . . . . . . . . . . . . . . . . . . .
I
I2t extent of utilisation 64. . . . . . . . . . . . . . . . . . .
I2t-time 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identifier for PDO 28. . . . . . . . . . . . . . . . . . . . . . .
Identify the device 82. . . . . . . . . . . . . . . . . . . . . .
identity_object 82. . . . . . . . . . . . . . . . . . . . . . . . .
iit_ratio_motor 64. . . . . . . . . . . . . . . . . . . . . . . . .
iit_time_motor 64. . . . . . . . . . . . . . . . . . . . . . . . .
inhibit_time 28. . . . . . . . . . . . . . . . . . . . . . . . . . .
Instructions on this documentation 7. . . . . . . . . .
Interpolation data 123. . . . . . . . . . . . . . . . . . . . .
Interpolation type 122. . . . . . . . . . . . . . . . . . . . .
interpolation_data_configuration 125. . . . . . . . .
interpolation_data_record 123. . . . . . . . . . . . . . .
interpolation_submode_select 122. . . . . . . . . . .
interpolation_time_period 124. . . . . . . . . . . . . . .
ip_data_position 123. . . . . . . . . . . . . . . . . . . . . .
ip_time_index 124. . . . . . . . . . . . . . . . . . . . . . . .
ip_time_units 124. . . . . . . . . . . . . . . . . . . . . . . . .
L
Limit switch
– Emergency stop ramp 80. . . . . . . . . . . . . . . . . .
– Polarity 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limit switches 79, 111, 112. . . . . . . . . . . . . . . .
limit_current 77. . . . . . . . . . . . . . . . . . . . . . . . . . .
limit_current_input_channel 76. . . . . . . . . . . . . .
limit_switch_deceleration 80. . . . . . . . . . . . . . . .
limit_switch_polarity 80. . . . . . . . . . . . . . . . . . . .
Load default parameters 48. . . . . . . . . . . . . . . . .
M
Manufacturer code 83. . . . . . . . . . . . . . . . . . . . . .
Mapping parameter for PDOs 28. . . . . . . . . . . . .
max_buffer_size 125. . . . . . . . . . . . . . . . . . . . . . .
max_current 63. . . . . . . . . . . . . . . . . . . . . . . . . . .
max_motor_speed 132. . . . . . . . . . . . . . . . . . . . .
max_power_stage_temperature 61. . . . . . . . . . .
max_torque 138. . . . . . . . . . . . . . . . . . . . . . . . . .
Maximummotor speed 132. . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 159
Maximum output stage temperature 61. . . . . . . .
Maximum torque 137. . . . . . . . . . . . . . . . . . . . . .
Methods of homing 110. . . . . . . . . . . . . . . . . . . .
modes_of_operation 104. . . . . . . . . . . . . . . . . . .
modes_of_operation_display 105. . . . . . . . . . . .
motion_profile_type 118. . . . . . . . . . . . . . . . . . .
Motor parameter
– I2t-time 64. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Nominal current 62. . . . . . . . . . . . . . . . . . . . . .
– Pole (pair) number 63. . . . . . . . . . . . . . . . . . . .
– Resolver offset angle 65. . . . . . . . . . . . . . . . . .
Motor peak current 63. . . . . . . . . . . . . . . . . . . . .
Motor rated current 62. . . . . . . . . . . . . . . . . . . . .
motor_data 64, 65. . . . . . . . . . . . . . . . . . . . . . . .
motor_rated_current 62. . . . . . . . . . . . . . . . . . . .
motor_rated_torque 138. . . . . . . . . . . . . . . . . . .
Motor's rated torque 138. . . . . . . . . . . . . . . . . . .
N
Node ID 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Nominal motor current 62. . . . . . . . . . . . . . . . . . .
Nominal speed for speed adjustment 133. . . . . .
Not Ready to Switch On 92. . . . . . . . . . . . . . . . . .
Number of mapped objects 29. . . . . . . . . . . . . . .
Number of pole pairs 63. . . . . . . . . . . . . . . . . . . .
Number of poles 63. . . . . . . . . . . . . . . . . . . . . . . .
number_of_mapped_objects 29. . . . . . . . . . . . .
numerator 58. . . . . . . . . . . . . . . . . . . . . . . . . . . .
– acceleration_factor 55. . . . . . . . . . . . . . . . . . .
numerator
– position_factor 51. . . . . . . . . . . . . . . . . . . . . . .
– velocity_encoder_factor 53. . . . . . . . . . . . . . . .
O
Object 6510h_F0h 86. . . . . . . . . . . . . . . . . . . . . .
Objects
– Object 1001h 34. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1003h 35. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1003h_01h 34, 35, 36. . . . . . . . . . . . . .
– Object 1003h_02h 35. . . . . . . . . . . . . . . . . . . .
– Object 1003h_03h 35. . . . . . . . . . . . . . . . . . . .
– Object 1003h_04h 36. . . . . . . . . . . . . . . . . . . .
– Object 1005h 32. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1006h_00h 123. . . . . . . . . . . . . . . . . . .
– Object 1010h 48. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1010h_01h 48. . . . . . . . . . . . . . . . . . . .
– Object 1011h 47. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1011h_01h 48. . . . . . . . . . . . . . . . . . . .
– Object 1018h 82. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1018h_01h 83. . . . . . . . . . . . . . . . . . . .
– Object 1018h_02h 83. . . . . . . . . . . . . . . . . . . .
– Object 1018h_03h 83. . . . . . . . . . . . . . . . . . . .
– Object 1018h_04h 83. . . . . . . . . . . . . . . . . . . .
– Object 1800h 28, 30. . . . . . . . . . . . . . . . . . . . .
– Object 1800h_01h 28. . . . . . . . . . . . . . . . . . . .
– Object 1800h_02h 28. . . . . . . . . . . . . . . . . . . .
– Object 1800h_03h 28. . . . . . . . . . . . . . . . . . . .
– Object 1801h 30. . . . . . . . . . . . . . . . . . . . . . . .
– Object 1A00h 28, 30. . . . . . . . . . . . . . . . . . . . .
– Object 1A00h_00h 29. . . . . . . . . . . . . . . . . . . .
– Object 1A00h_01h 29. . . . . . . . . . . . . . . . . . . .
– Object 1A00h_02h 29. . . . . . . . . . . . . . . . . . . .
– Object 1A00h_03h 29. . . . . . . . . . . . . . . . . . . .
– Object 1A00h_04h 30. . . . . . . . . . . . . . . . . . . .
– Object 1A01h 30. . . . . . . . . . . . . . . . . . . . . . . .
– Object 2014h 31. . . . . . . . . . . . . . . . . . . . . . . .
– Object 2015h 31. . . . . . . . . . . . . . . . . . . . . . . .
– Object 204Ah 81. . . . . . . . . . . . . . . . . . . . . . . .
– Object 204Ah_05h 81. . . . . . . . . . . . . . . . . . . .
– Object 204Ah_06h 81. . . . . . . . . . . . . . . . . . . .
– Object 2090h 134. . . . . . . . . . . . . . . . . . . . . . .
– Object 2090h_02h 134. . . . . . . . . . . . . . . . . . .
– Object 2090h_03h 135. . . . . . . . . . . . . . . . . . .
– Object 2090h_04h 135. . . . . . . . . . . . . . . . . . .
– Object 2090h_05h 135. . . . . . . . . . . . . . . . . . .
– Object 2100h 85. . . . . . . . . . . . . . . . . . . . . . . .
– Object 2415h 76. . . . . . . . . . . . . . . . . . . . . . . .
– Object 2415h_01h 76. . . . . . . . . . . . . . . . . . . .
– Object 2415h_02h 77. . . . . . . . . . . . . . . . . . . .
– Object 6040h 94. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6041h 99. . . . . . . . . . . . . . . . . . . . . . . .
– Object 604Dh 63. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6060h 104. . . . . . . . . . . . . . . . . . . . . . .
– Object 6061h 105. . . . . . . . . . . . . . . . . . . . . . .
– Object 6062h 72. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6063h 73. . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
160 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
– Object 6064h 73. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6065h 74. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6066h 74. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6067h 75. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6068h 75. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6069h 131. . . . . . . . . . . . . . . . . . . . . . .
– Object 606Bh 132. . . . . . . . . . . . . . . . . . . . . . .
– Object 606Ch 132. . . . . . . . . . . . . . . . . . . . . . .
– Object 6071h 137. . . . . . . . . . . . . . . . . . . . . . .
– Object 6072h 138. . . . . . . . . . . . . . . . . . . . . . .
– Object 6073h 63. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6074h 138. . . . . . . . . . . . . . . . . . . . . . .
– Object 6075h 62. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6076h 138. . . . . . . . . . . . . . . . . . . . . . .
– Object 6077h 139. . . . . . . . . . . . . . . . . . . . . . .
– Object 6078h 139. . . . . . . . . . . . . . . . . . . . . . .
– Object 6079h 140. . . . . . . . . . . . . . . . . . . . . . .
– Object 607Ah 115. . . . . . . . . . . . . . . . . . . . . . .
– Object 607Ch 108. . . . . . . . . . . . . . . . . . . . . . .
– Object 607Eh 58. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6080h 132. . . . . . . . . . . . . . . . . . . . . . .
– Object 6081h 116. . . . . . . . . . . . . . . . . . . . . . .
– Object 6082h 116. . . . . . . . . . . . . . . . . . . . . . .
– Object 6083h 116. . . . . . . . . . . . . . . . . . . . . . .
– Object 6084h 117. . . . . . . . . . . . . . . . . . . . . . .
– Object 6085h 117. . . . . . . . . . . . . . . . . . . . . . .
– Object 6086h 118. . . . . . . . . . . . . . . . . . . . . . .
– Object 6093h 50. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6093h_01h 51. . . . . . . . . . . . . . . . . . . .
– Object 6093h_02h 51. . . . . . . . . . . . . . . . . . . .
– Object 6094h 53. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6094h_01h 53. . . . . . . . . . . . . . . . . . . .
– Object 6094h_02h 53. . . . . . . . . . . . . . . . . . . .
– Object 6097h 55, 58, 59. . . . . . . . . . . . . . . . . .
– Object 6097h_01h 55. . . . . . . . . . . . . . . . . . . .
– Object 6097h_02h 55. . . . . . . . . . . . . . . . . . . .
– Object 6098h 108. . . . . . . . . . . . . . . . . . . . . . .
– Object 6099h 109. . . . . . . . . . . . . . . . . . . . . . .
– Object 6099h_01h 109. . . . . . . . . . . . . . . . . . .
– Object 6099h_02h 109. . . . . . . . . . . . . . . . . . .
– Object 609Ah 110. . . . . . . . . . . . . . . . . . . . . . .
– Object 60C0h 122. . . . . . . . . . . . . . . . . . . . . . .
– Object 60C1h 123. . . . . . . . . . . . . . . . . . . . . . .
– Object 60C1h_01h 123. . . . . . . . . . . . . . . . . . .
– Object 60C2h 123. . . . . . . . . . . . . . . . . . . . . . .
– Object 60C2h_01h 124. . . . . . . . . . . . . . . . . . .
– Object 60C2h_02h 124. . . . . . . . . . . . . . . . . . .
– Object 60C4h 125. . . . . . . . . . . . . . . . . . . . . . .
– Object 60C4h_01h 125. . . . . . . . . . . . . . . . . . .
– Object 60C4h_02h 125. . . . . . . . . . . . . . . . . . .
– Object 60C4h_03h 125. . . . . . . . . . . . . . . . . . .
– Object 60C4h_04h 126. . . . . . . . . . . . . . . . . . .
– Object 60C4h_05h 126. . . . . . . . . . . . . . . . . . .
– Object 60C4h_06h 126. . . . . . . . . . . . . . . . . . .
– Object 60F4h 74. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60F6h 65. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60F6h_01h 66. . . . . . . . . . . . . . . . . . . .
– Object 60F6h_02h 66. . . . . . . . . . . . . . . . . . . .
– Object 60F9h 67. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60F9h_01h 67. . . . . . . . . . . . . . . . . . . .
– Object 60F9h_02h 67. . . . . . . . . . . . . . . . . . . .
– Object 60F9h_04h 67. . . . . . . . . . . . . . . . . . . .
– Object 60FAh 75. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60FBh 71. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60FBh_01h 71. . . . . . . . . . . . . . . . . . . .
– Object 60FBh_04h 72. . . . . . . . . . . . . . . . . . . .
– Object 60FBh_05h 72. . . . . . . . . . . . . . . . . . . .
– Object 60FDh 77. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60FEh 78. . . . . . . . . . . . . . . . . . . . . . . .
– Object 60FEh_01h 78. . . . . . . . . . . . . . . . . . . .
– Object 60FFh 133. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6410h 64. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6410h_03h 64. . . . . . . . . . . . . . . . . . . .
– Object 6410h_04h 64. . . . . . . . . . . . . . . . . . . .
– Object 6410h_10h 64. . . . . . . . . . . . . . . . . . . .
– Object 6410h_11h 65. . . . . . . . . . . . . . . . . . . .
– Object 6510h 60. . . . . . . . . . . . . . . . . . . . . . . .
– Object 6510h_10h 61. . . . . . . . . . . . . . . . . . . .
– Object 6510h_11h 80. . . . . . . . . . . . . . . . . . . .
– Object 6510h_15h 80. . . . . . . . . . . . . . . . . . . .
– Object 6510h_31h 61. . . . . . . . . . . . . . . . . . . .
– Object 6510h_32h 61. . . . . . . . . . . . . . . . . . . .
– Object 6510h_A9h 84. . . . . . . . . . . . . . . . . . . .
– Object 6510h_AAh 84. . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 161
Offset of the angle encoder 65. . . . . . . . . . . . . . .
Operating mode 104, 105. . . . . . . . . . . . . . . . . .
– Homing 106. . . . . . . . . . . . . . . . . . . . . . . . . . . .
– modifying the 104. . . . . . . . . . . . . . . . . . . . . . .
– Reading of the 105. . . . . . . . . . . . . . . . . . . . . .
– Setting of the 104. . . . . . . . . . . . . . . . . . . . . . .
Output stage parameter 60. . . . . . . . . . . . . . . . .
– Enable Logic 61. . . . . . . . . . . . . . . . . . . . . . . . .
– Maximum temperature 61. . . . . . . . . . . . . . . . .
P
Parameter set
– Load default values 48. . . . . . . . . . . . . . . . . . .
– Save parameter set 48. . . . . . . . . . . . . . . . . . .
Parameter sets, Load and save 46. . . . . . . . . . . .
PDO 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– 1st mapped object 29. . . . . . . . . . . . . . . . . . . .
– 2nd mapped object 29. . . . . . . . . . . . . . . . . . . .
– 3rd mapped object 29. . . . . . . . . . . . . . . . . . . .
– 4th mapped object 30. . . . . . . . . . . . . . . . . . . .
– TPDO1
1st mapped object 30. . . . . . . . . . . . . . . . . . . .
2nd mapped object 30. . . . . . . . . . . . . . . . . . . .
3rd mapped object 30. . . . . . . . . . . . . . . . . . . .
4th mapped object 30. . . . . . . . . . . . . . . . . . . .
COB-ID used by PDO 30. . . . . . . . . . . . . . . . . . .
first mapped object 30. . . . . . . . . . . . . . . . . . .
fourth mapped object 30. . . . . . . . . . . . . . . . . .
Identifier 30. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inhibit time 30. . . . . . . . . . . . . . . . . . . . . . . . . .
Number of mapped objects 30. . . . . . . . . . . . .
second mapped object 30. . . . . . . . . . . . . . . . .
third mapped object 30. . . . . . . . . . . . . . . . . . .
Transmission type 30. . . . . . . . . . . . . . . . . . . . .
Transmit mask 31. . . . . . . . . . . . . . . . . . . . . . . .
– TPDO2
1st mapped object 30. . . . . . . . . . . . . . . . . . . .
2nd mapped object 30. . . . . . . . . . . . . . . . . . . .
3rd mapped object 30. . . . . . . . . . . . . . . . . . . .
4th mapped object 30. . . . . . . . . . . . . . . . . . . .
COB-ID used by PDO 30. . . . . . . . . . . . . . . . . . .
first mapped object 30. . . . . . . . . . . . . . . . . . .
fourth mapped object 30. . . . . . . . . . . . . . . . . .
Identifier 30. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inhibit time 30. . . . . . . . . . . . . . . . . . . . . . . . . .
Number of mapped objects 30. . . . . . . . . . . . .
second mapped object 30. . . . . . . . . . . . . . . . .
third mapped object 30. . . . . . . . . . . . . . . . . . .
Transmission type 30. . . . . . . . . . . . . . . . . . . . .
Transmit mask 31. . . . . . . . . . . . . . . . . . . . . . . .
PDO message 23. . . . . . . . . . . . . . . . . . . . . . . . . .
Peak current, Motor 63. . . . . . . . . . . . . . . . . . . . .
Permissible torque 137. . . . . . . . . . . . . . . . . . . . .
phase_order 64. . . . . . . . . . . . . . . . . . . . . . . . . . .
pole_number 63. . . . . . . . . . . . . . . . . . . . . . . . . .
position control function 68. . . . . . . . . . . . . . . . .
Position controller 68. . . . . . . . . . . . . . . . . . . . . .
– Dead range 72. . . . . . . . . . . . . . . . . . . . . . . . . .
– Gain 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– output of the 75. . . . . . . . . . . . . . . . . . . . . . . . .
– Parameter 71. . . . . . . . . . . . . . . . . . . . . . . . . . .
Position controller gain 71. . . . . . . . . . . . . . . . . .
Position controller output 75. . . . . . . . . . . . . . . .
Position controller parameter 71. . . . . . . . . . . . .
Position value interpolation 123. . . . . . . . . . . . . .
position_actual_value 73. . . . . . . . . . . . . . . . . . .
position_actual_value_s 73. . . . . . . . . . . . . . . . .
position_control_gain 71. . . . . . . . . . . . . . . . . . .
position_control_parameter_set 71. . . . . . . . . . .
position_control_v_max 72. . . . . . . . . . . . . . . . .
position_demand_value 72. . . . . . . . . . . . . . . . .
position_error_tolerance_window 72. . . . . . . . .
position_factor 51. . . . . . . . . . . . . . . . . . . . . . . . .
position_reached 69. . . . . . . . . . . . . . . . . . . . . . .
position_window 75. . . . . . . . . . . . . . . . . . . . . . .
position_window_time 75. . . . . . . . . . . . . . . . . .
Positioning 119. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Brake acceleration 117. . . . . . . . . . . . . . . . . . .
– Handshake 119. . . . . . . . . . . . . . . . . . . . . . . . .
– Quick stop deceleration 117. . . . . . . . . . . . . . .
– Speed at 116. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Target position 115. . . . . . . . . . . . . . . . . . . . . .
Positioning braking deceleration 117. . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
162 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
Positioning profile
– Jerk-free 118. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Linear 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Sine2 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning speed 116. . . . . . . . . . . . . . . . . . . . . .
Positioning Window
– Position window 75. . . . . . . . . . . . . . . . . . . . . .
– Time 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
power_stage_temperature 61. . . . . . . . . . . . . . .
pre_defined_error_field 35. . . . . . . . . . . . . . . . . .
Product code 83. . . . . . . . . . . . . . . . . . . . . . . . . .
product_code 83. . . . . . . . . . . . . . . . . . . . . . . . . .
Profile Position Mode
– end_velocity 116. . . . . . . . . . . . . . . . . . . . . . . .
– motion_profile_type 118. . . . . . . . . . . . . . . . . .
– profile_acceleration 116. . . . . . . . . . . . . . . . . .
– profile_deceleration 117. . . . . . . . . . . . . . . . . .
– profile_velocity 116. . . . . . . . . . . . . . . . . . . . . .
– quick_stop_deceleration 117. . . . . . . . . . . . . .
– target_position 115. . . . . . . . . . . . . . . . . . . . . .
Profile Torque Mode 136. . . . . . . . . . . . . . . . . . . .
– current_actual_value 139. . . . . . . . . . . . . . . . .
– dc_link_circuit_voltage 140. . . . . . . . . . . . . . .
– max_torque 137. . . . . . . . . . . . . . . . . . . . . . . .
– motor_rated_torque 138. . . . . . . . . . . . . . . . . .
– target_torque 137. . . . . . . . . . . . . . . . . . . . . . .
– torque_actual_value 139. . . . . . . . . . . . . . . . .
– torque_demand_value 138. . . . . . . . . . . . . . . .
Profile Velocity Mode 129. . . . . . . . . . . . . . . . . . .
– max_motor_speed 132. . . . . . . . . . . . . . . . . . .
– target_velocity 133. . . . . . . . . . . . . . . . . . . . . .
– velocity_actual_value 132. . . . . . . . . . . . . . . . .
– velocity_demand_value 132. . . . . . . . . . . . . . .
– velocity_sensor 131. . . . . . . . . . . . . . . . . . . . . .
profile_acceleration 116. . . . . . . . . . . . . . . . . . . .
profile_deceleration 117. . . . . . . . . . . . . . . . . . . .
profile_velocity 116. . . . . . . . . . . . . . . . . . . . . . .
Q
Quick stop deceleration 117. . . . . . . . . . . . . . . . .
quick_stop_deceleration 117. . . . . . . . . . . . . . . .
R
Ready to Switch On 92. . . . . . . . . . . . . . . . . . . . .
Resolver offset angle 65. . . . . . . . . . . . . . . . . . . .
restore_all_default_parameters 48. . . . . . . . . . .
restore_parameters 47. . . . . . . . . . . . . . . . . . . . .
Revision Number CANopen 83. . . . . . . . . . . . . . .
revision_number 83. . . . . . . . . . . . . . . . . . . . . . .
S
sample_data 81. . . . . . . . . . . . . . . . . . . . . . . . . .
sample_position_falling_edge 81. . . . . . . . . . . .
sample_position_rising_edge 81. . . . . . . . . . . . .
Sampling-Position
– Falling edge 81. . . . . . . . . . . . . . . . . . . . . . . . . .
– Rising edge 81. . . . . . . . . . . . . . . . . . . . . . . . . .
Save parameter set 48. . . . . . . . . . . . . . . . . . . . .
save_all_parameters 48. . . . . . . . . . . . . . . . . . . .
Scaling factors 49. . . . . . . . . . . . . . . . . . . . . . . . .
– Choice of prefix 58. . . . . . . . . . . . . . . . . . . . . . .
– Position Factor 51. . . . . . . . . . . . . . . . . . . . . . .
SDO 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SDO error messages 21. . . . . . . . . . . . . . . . . . . .
SDO message 17. . . . . . . . . . . . . . . . . . . . . . . . . .
second_mapped_object 29. . . . . . . . . . . . . . . . .
serial_number 83. . . . . . . . . . . . . . . . . . . . . . . . .
Service 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setpoint, Current 138. . . . . . . . . . . . . . . . . . . . . .
Setpoint torque (torque regulation) 137. . . . . . .
Setpoint value, Torque 137. . . . . . . . . . . . . . . . . .
Setting parameters 46. . . . . . . . . . . . . . . . . . . . .
Setting the operating mode 104. . . . . . . . . . . . . .
size_of_data_record 126. . . . . . . . . . . . . . . . . . .
Speed
– During positioning 116. . . . . . . . . . . . . . . . . . .
– in the homing run 109. . . . . . . . . . . . . . . . . . . .
Speed adjustment 129. . . . . . . . . . . . . . . . . . . . .
– Target speed 133. . . . . . . . . . . . . . . . . . . . . . . .
Speed adjustment operating mode 129. . . . . . . .
Speed regulation
– max. motor speed 132. . . . . . . . . . . . . . . . . . . .
– Target speed 133. . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English 163
Speed regulator
– Filter time constant 67. . . . . . . . . . . . . . . . . . . .
– Gain 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
– Parameter 67. . . . . . . . . . . . . . . . . . . . . . . . . . .
– Time Constant 67. . . . . . . . . . . . . . . . . . . . . . . .
speed_during_search_for_switch 109. . . . . . . . .
speed_during_search_for_zero 109. . . . . . . . . . .
standard_error_field_0 34, 35, 36. . . . . . . . . . . .
standard_error_field_1 35. . . . . . . . . . . . . . . . . .
standard_error_field_2 35. . . . . . . . . . . . . . . . . .
standard_error_field_3 36. . . . . . . . . . . . . . . . . .
Start positioning 119. . . . . . . . . . . . . . . . . . . . . .
State
– Not Ready to Switch On 92. . . . . . . . . . . . . . . .
– Ready to Switch On 92. . . . . . . . . . . . . . . . . . .
– Switch On Disabled 92. . . . . . . . . . . . . . . . . . .
– Switched On 92. . . . . . . . . . . . . . . . . . . . . . . . .
Status, Switched On 92. . . . . . . . . . . . . . . . . . . .
statusword
– Bit assignment 99. . . . . . . . . . . . . . . . . . . . . . .
– Object description 99. . . . . . . . . . . . . . . . . . . .
Stop 110, 111. . . . . . . . . . . . . . . . . . . . . . . . . . .
store_parameters 48. . . . . . . . . . . . . . . . . . . . . .
Switch On Disabled 92. . . . . . . . . . . . . . . . . . . . .
SYNC 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SYNC message 32. . . . . . . . . . . . . . . . . . . . . . . . .
syncronize_on_group 123. . . . . . . . . . . . . . . . . . .
T
T-PDO 1 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
T-PDO 2 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target group 7. . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target position 115. . . . . . . . . . . . . . . . . . . . . . . .
Target position window 75. . . . . . . . . . . . . . . . . .
Target torque (torque regulation) 137. . . . . . . . .
Target window time 75. . . . . . . . . . . . . . . . . . . . .
target_position 115. . . . . . . . . . . . . . . . . . . . . . .
target_torque 137. . . . . . . . . . . . . . . . . . . . . . . . .
target_velocity 133. . . . . . . . . . . . . . . . . . . . . . . .
Terminating resistor 15. . . . . . . . . . . . . . . . . . . . .
third_mapped_object 29. . . . . . . . . . . . . . . . . . .
Time constant of the current regulator 66. . . . . .
Torque Control
– Actual torque value 139. . . . . . . . . . . . . . . . . .
– Current setpoint value 138. . . . . . . . . . . . . . . .
– Max. torque 137. . . . . . . . . . . . . . . . . . . . . . . .
– Rated torque 138. . . . . . . . . . . . . . . . . . . . . . . .
– Setpoint torque 137. . . . . . . . . . . . . . . . . . . . .
– Target torque 137. . . . . . . . . . . . . . . . . . . . . . .
Torque limitation, Scaling 77. . . . . . . . . . . . . . . .
Torque limiting 76. . . . . . . . . . . . . . . . . . . . . . . . .
– Setpoint value 77. . . . . . . . . . . . . . . . . . . . . . . .
– Source 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque regulation operating mode 136. . . . . . . .
Torque regulations 136. . . . . . . . . . . . . . . . . . . . .
torque_actual_value 139. . . . . . . . . . . . . . . . . . .
torque_control_gain 66. . . . . . . . . . . . . . . . . . . .
torque_control_parameters 66. . . . . . . . . . . . . .
torque_control_time 66. . . . . . . . . . . . . . . . . . . .
torque_demand_value 138. . . . . . . . . . . . . . . . . .
Torque-limited speed operation 76. . . . . . . . . . .
tpdo_1_transmit_mask 31. . . . . . . . . . . . . . . . . .
tpdo_2_transmit_mask 31. . . . . . . . . . . . . . . . . .
Transfer parameters for PDOs 28. . . . . . . . . . . . .
transfer_PDO_1 30. . . . . . . . . . . . . . . . . . . . . . . .
transfer_PDO_2 30. . . . . . . . . . . . . . . . . . . . . . . .
transmission_type 28. . . . . . . . . . . . . . . . . . . . . .
transmit_pdo_mapping 28. . . . . . . . . . . . . . . . . .
transmit_pdo_parameter 28. . . . . . . . . . . . . . . . .
Type of transmission 28. . . . . . . . . . . . . . . . . . . .
V
velocity_acceleration_neg 135. . . . . . . . . . . . . . .
velocity_acceleration_pos 134. . . . . . . . . . . . . . .
velocity_actual_value 132. . . . . . . . . . . . . . . . . .
velocity_control_filter_time 67. . . . . . . . . . . . . . .
velocity_control_gain 67. . . . . . . . . . . . . . . . . . . .
velocity_control_parameter_set 67. . . . . . . . . . .
velocity_control_time 67. . . . . . . . . . . . . . . . . . .
velocity_deceleration_neg 135. . . . . . . . . . . . . . .
velocity_deceleration_pos 135. . . . . . . . . . . . . . .
velocity_demand_value 132. . . . . . . . . . . . . . . . .
velocity_encoder_factor 53. . . . . . . . . . . . . . . . .
velocity_ramps 134. . . . . . . . . . . . . . . . . . . . . . . .
CMMS-AS/CMMD-AS/CMMS-ST
164 Festo – GDCP-CMMS/D-C-CO-EN – 1404NH – English
velocity_sensor_actual_value 131. . . . . . . . . . . .
vendor_id 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Version 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Version number of the customer-specific
variants 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Version number of the firmware 84. . . . . . . . . . .
Z
Zero point offset 108. . . . . . . . . . . . . . . . . . . . . . .
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Festo SE & Co. KGPostfach73726 EsslingenGermany
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Original: de